CN103174391B

CN103174391B - A kind of control system of Electro-hydraulic drive coiled tubing downhole tractor

Info

Publication number: CN103174391B
Application number: CN201210342805.5A
Authority: CN
Inventors: 侯学军
Original assignee: Chongqing University of Science and Technology
Current assignee: Chongqing University of Science and Technology
Priority date: 2012-09-17
Filing date: 2012-09-17
Publication date: 2016-09-21
Anticipated expiration: 2032-09-17
Also published as: CN103174391A

Abstract

The invention belongs to oil and gas development field, in particular it relates to the control system of a kind of Electro-hydraulic drive coiled tubing downhole tractor.The control system of Electro-hydraulic drive coiled tubing downhole tractor, including control system housing, motor module, fluid pressure line module, electronic control module；It is characterized in that: in control system housing, be sequentially installed with motor module, fluid pressure line module, electronic control module from top to bottom；Motor module includes traction control servomotor, support and control servomotor；Traction control servomotor and support and control servomotor are sent instruction by electronic control module and are controlled.The motility of traction apparatus control system is preferable, be applicable to traction control operation under slim hole well; in controlling distraction procedure, can guarantee that normal down-hole liquid circulates; effective control of hauling speed can be realized; and power-off protection, bivector traction control effectively can be realized, effective control of hauling speed can be realized.

Description

A kind of control system of Electro-hydraulic drive coiled tubing downhole tractor

Technical field

The invention belongs to oil and gas development field, in particular it relates to the control system of a kind of Electro-hydraulic drive coiled tubing downhole tractor.

Background technology

In the later stage nineties 20th century, external many companies develop can be in the horizontal well traction apparatus (namely cable puller) of down-hole independently working.nullThrough development for many years，Up to the present，Representational traction apparatus product specifically includes that Welltec company of the Denmark wheeled traction apparatus of Well Tractor，The wheeled traction apparatus of Sondex of Sondex company limited of Britain，The wheeled traction apparatus of PowerTrac Advance of Maritime Well Service (MWS) company of Norway、PowerTrac INVADER crawler type traction apparatus，The telescopic traction apparatus of SmarTract of ExproGroup company of Britain、The telescopic traction apparatus of MaxTRAC of Schlumberger company of France、The Microhole telescopic traction apparatus of Drilling Tractor of U.S. Western Well Tool company.Wherein the Microhole telescopic traction apparatus of Drilling Tractor of U.S. Western Well Tool company be coiled tubing formula drive by ground cleaner for high-pressure drilling fluid, the traction apparatus that can be used for slim-hole, effective ground auger well liquid can be kept during work to circulate；Remaining traction apparatus is mostly wheeled or crawler type, and Outside Dimensions is relatively big, is only applicable to large hole, connects with cable or steel wire rope, electric drive, and pull strength is less, can not carry out effective circulation of drilling fluid during work, is generally limited to the application of well logging industry.

But the most that traction apparatus, for domestic, abroad all take strict technical know-how measure, cause the domestic research to downhole tractor also in the infancy: from August, 2002, Tarim Oilfield is by the way of technological cooperation, use downhole tractor technology to carry out the exploration of horizontal well industry profile logging, achieve certain effect.Hereafter, domestic minority scientific research institutions have carried out the research of downhole tractor the most in succession, mainly there are China University Of Petroleum Beijing, Harbin Institute of Technology, Southwest Petroleum Institute, Daqing Petroleum Institute, Xi'an Petroleum University etc., also the patent of some traction apparatuss has been applied for, but these traction apparatuss there are disadvantages that more or less, and mostly it is confined to utilize circulation fluid to be pressed into row cutting control, the most direct servo step motor carries out traction apparatus and drives and control, it is impossible to preferably meet the requirement of underground work.

China University Of Petroleum Beijing Gao Jinwei, Liu Meng et al. are at document (Gao Jinwei, Liu Meng, Yan Xiangzhen. wheeled self-adapting pipe crawl device under Horizontal Well: China) in propose the organization plan of a kind of wheeled drag device, and applied for utility model patent (200520008070.8.2006-08-16, puller reducing draught device of horizontal borehole of quill)；Harbin Institute of Technology also have developed a cable wheeled drag device (Tang Dewei, Wang Xinjie, Deng Zongquan. Driver of horizontal oil well detecting instruments. Harbin Institute of Technology journal .2007,39 (9): 1395-1397), and carried out ground experiment；A kind of wheeled traction apparatus of the flat designed, designed of Xi'an Petroleum University Zhu Lin, Wu Song (Zhu Lin, Wu Songping. the design of horizontal wellbore logging instrument traction crawl device. New Technologies, 2007, (12): 32-34)；Liaohe Petroleum Exploration Bureau proposes the wheeled traction apparatus (200720190260.5 with independent intellectual property right, puller reducing draught device of horizontal borehole of quill), and the underground trials that its traction apparatus developed has been carried out by the Logging Company's four mouthfuls of water horizontal wells in Liaohe Oil Field was drilled on Great Wall in 2008, also some other scientific research institutions have been also carried out the research of wheeled traction apparatus related fields, but these traction apparatuss have some common ground: be all wheeled traction apparatus, it is all that cable connects without circulation, it it is all well logging, the underground work traction apparatus that the pull strengths such as well workover are little, therefore there is a lot of defect, major defect is as follows: (one) relies on the electric driving control system that cable or steel wire rope connect, can not effectively connect coiled tubing be driven by ground hydraulic and realize effective circulation of drilling fluid and control；(2) major part traction apparatus control system can not realize bi-directional drive；(3) major part traction apparatus control system can not realize the protective measure that power-off supporting mechanism automatically retracts；(4) major part traction apparatus control system face-pumping pressure over the ground is strong according to patience, starts operting differential pressure and maximum operating pressure differential can not achieve effective control.

Daqing Petroleum Institute Shao keeps monarch, Chang Yulian propose a kind of lock piston type walking of rising telescopic drag device (Shao Shoujun. oil well fault-finding robot research based on virtual prototype. Daqing Petroleum Institute Master's thesis .2007:5～7) main by electric component, hydraulic package, upper support walking assembly, lower support walking assembly and probe assembly composition, by solenoid directional control valve, four hydraulic cylinders are controlled, make, the lower walking assembly that supports realizes alternately stretching or withdrawal on request, stretch out and indentation, thus realize autonomous traveling, but there is the biggest defect in this traction apparatus: (one) powers to electric component with connection cable and drives motor to make hydraulic mechanism be operated, traction apparatus does not provide circulation of drilling fluid passage, down-hole liquid and the Efficient Cycle on ground in operation process cannot be realized；(2) control system solenoid directional control valve controls four fluid cylinders, it is impossible to realize effective control of hauling speed size；(3) automatic Protection that the protection of pull-in control system No-mistake Principle and power-off slips are regained.

Effect China is wished by Southwest Petrol University, Hu Zhiqiang, (the 201110081197.2 of the application such as Shi Changshuai, continuous oil pipe crawler and method of creeping thereof) continuous oil pipe crawler and the method for creeping thereof be by front crawling device, controller and rear crawling device composition, although using coiled tubing to connect, ground hydraulic device is utilized to be driven, but this patent is clearly present weak point: (one) traction element uses upper and lower two traction fluid cylinders to carry out traction drive and control, make traction element long, supporting mechanism uses single fluid cylinder to drive and spring reverse motion, make traction apparatus fluid pressure line complicated, minimum applicable borehole diameter is bigger, be not suitable for traction in slim-hole to advance；(2) in making coiled tubing due to coiled tubing underground work, cyclic pressure dissipation is bigger, use pure hydraulic-driven and control, traction apparatus inside and outside differential pressure minima be there are certain requirements, only ground pump pressure could drive traction apparatus normally to work after reaching certain value, making this traction apparatus bigger to geostatic pressure dependency, traction control is dumb；(3) it is that proposition hydraulic pressure is driven control concept, but does not provide the pipeline embodiment of concrete hydraulic-driven and control；(4) without speed regulation throttle valve, it is impossible to realize effective control of hauling speed size；(5) automatic Protection that the protection of traction control No-mistake Principle and power-off slips are regained.

Along with downhole tractor application is increasingly extensive, petroleum drilling and mining industry carries out underground work from abroad having introduced multiple downhole tractor product, although the domestic research to traction apparatus is started late, and it is only limitted to the research of the single drivings such as the wheeled downhole tractor of motor, hydraulic-driven continuous pipe downhole tractor, purely mechanic cam-type downhole tractor, the product not having maturation moves towards market, traction apparatus control system there is also a lot of defect, it is impossible to preferably meets the requirement of underground work.Main cause by:

(1) abroad downhole tractor technology is taken strict technical know-how measure so that the research of domestic traction apparatus control system is completely disposed in independent research state；

(2) research of domestic traction apparatus is limited to use of logging well, and the research of drillng operation traction apparatus is less, and the traction apparatus of slim-hole or the towage of Microdrilling down-hole is domestic also not to be had, and therefore slim-hole or Microdrilling downhole tractor control system research difficulty are bigger；

(3) domestic traction apparatus: the valve that single hydraulic-driven controls is more, and structure is more complicated, poor stability, automatically retracts the control of protection without switch DP, overload pressure reduction and power-off supporting mechanism, bigger to ground front pump pressure dependency；

(4) traction apparatus control system can only realize unidirectional downward drawing into well control, it is impossible to bivector traction controls；

(5) having circulation pipe passage, the control system of the hydraulic-driven traction apparatus that can carry out ground and down-hole liquid Efficient Cycle only provides concept, does not has concrete hydraulic-driven control program, does not has experimental prototype, does not also have matured product；

(6) mostly lay particular emphasis on large hole traction apparatus control system research, slim-hole control system research is limited by well space is little, study and to implement difficulty bigger.

Summary of the invention

For overcoming the defect of prior art, it is an object of the invention to provide the control system of a kind of Electro-hydraulic drive coiled tubing downhole tractor, it utilizes electronic control module control servomotor to make two five position-5 way valves accurately control hydraulic circuit, and coordinate other valves of control, realize effective hydraulic-driven traction apparatus enter under down-hole traction Coiled Tubing is smooth and take out, solve because coiled tubing is bigger at down-hole frictional resistance, under enter and take out difficulty, the pressure of the drill be difficult to the technical barriers such as applying, make coiled tubing can extend in down-hole longer.

In order to achieve the above object, the present invention uses following scheme:

The control system of a kind of Electro-hydraulic drive coiled tubing downhole tractor, including control system housing, motor module, fluid pressure line module, electronic control module；It is characterized in that: in control system housing, be sequentially installed with motor module, fluid pressure line module, electronic control module from top to bottom；Motor module includes traction control servomotor, support and control servomotor；Traction control servomotor and support and control servomotor are sent instruction by electronic control module and are controlled.

Preferably, fluid pressure line module includes upper slips fluid cylinder two position three-way valve, import pressure limiting two position three-way valve, supports four five-way valves of fluid cylinder, import spring-loaded overflow valve, traction fluid cylinder three position five-way valve.

Preferably, the three-way interface pipeline of upper slips fluid cylinder two position three-way valve is respectively as follows: entrance termination drilling liquid pressure pipeline, and remaining two leads to the port of export and connect the first upper slips fluid cylinder pressure piping and the second upper slips fluid cylinder pressure piping respectively；Wherein two are controlled by spring and electromagnetic valve.

Preferably, import pressure limiting two position three-way valve is two-position three way spring electromagnetism pilot operated valve device, and three-way interface pipeline is respectively as follows: entrance termination drilling fluid entrance cavity pressure line, and two ports of export connect cleaner for high-pressure drilling fluid pressure line and drilling fluid return bore hole annulus pipeline respectively；Import pressure limiting two position three-way valve one end is equipped with electric magnet, and the other end is equipped with spring；Electric magnet end high pressure hydraulic control entrance connects drilling fluid entrance cavity pressure line, and spring terminal low pressure hydraulic control entrance connects drilling fluid return bore hole annulus pipeline；Wherein two are controlled with the pressure reduction of drilling fluid return bore hole annulus pipeline by spring, electric magnet magnetic force, drilling fluid entrance cavity pressure line.

Preferably, import spring-loaded overflow valve is bi-bit bi-pass spring electromagnetic relief valve, import spring-loaded overflow valve one end is equipped with electric magnet, the other end is equipped with spring, the entrance of import spring-loaded overflow valve connects cleaner for high-pressure drilling fluid pressure line, the outlet termination drilling fluid return bore hole annulus pipeline of import spring-loaded overflow valve, spring terminal low pressure hydraulic control entrance connects drilling fluid return bore hole annulus pipeline, and electric magnet end high pressure hydraulic control entrance connects cleaner for high-pressure drilling fluid pressure line；Two of import spring-loaded overflow valve are that pressure reduction and spring thrust by cleaner for high-pressure drilling fluid pressure line with drilling fluid return bore hole annulus pipeline are controlled, and make cleaner for high-pressure drilling fluid pressure line connect with drilling fluid return bore hole annulus pipeline or disconnect.

Preferably, supporting four five-way valve one entrances of fluid cylinder and connect cleaner for high-pressure drilling fluid pressure line, two bypass outlets all connect drilling fluid return bore hole annulus pipeline, and two outlets connect drilling liquid pressure pipeline and lower slips fluid cylinder pressure piping respectively；Support the upper termination support and control servomotor of the spool of four five-way valves of fluid cylinder, the lower termination spring of spool；Supporting four five-way valves of fluid cylinder and divide four: first from top to bottom, drilling liquid pressure pipeline connects with drilling fluid return bore hole annulus pipeline, and cleaner for high-pressure drilling fluid pressure line connects with lower slips fluid cylinder pressure piping；Second, cleaner for high-pressure drilling fluid pressure line connects with drilling liquid pressure pipeline and lower slips fluid cylinder pressure piping the most simultaneously, and drilling fluid return bore hole annulus pipeline disconnects with drilling liquid pressure pipeline and lower slips fluid cylinder pressure piping；3rd, cleaner for high-pressure drilling fluid pressure line connects with connecing drilling liquid pressure pipeline, and lower slips fluid cylinder pressure piping connects with drilling fluid return bore hole annulus pipeline；4th, drilling fluid return bore hole annulus pipeline respectively simultaneously with connect drilling liquid pressure pipeline and lower slips fluid cylinder pressure piping connect, cleaner for high-pressure drilling fluid pressure line simultaneously with drilling liquid pressure pipeline and the disconnection of lower slips fluid cylinder pressure piping；Support first of four five-way valves of fluid cylinder, second, the mode of communicating of the 3rd all use adjustable mode of communicating: spool position changes, passage flow section size variation, flow through channel liquid flow velocity to vary in size, position by support and control servomotor precision control valve core, thus accurately control upper three connection interface flow section sizes so that input and output stream rate of flow of fluid be effectively controlled.

Preferably, traction fluid cylinder three position five-way valve one entrance connects cleaner for high-pressure drilling fluid pressure line, and two bypass outlets all connect drilling fluid return bore hole annulus pipeline, and other two outlets connect traction fluid cylinder pressure piping and traction fluid cylinder pressure piping respectively；The upper termination traction control servomotor of traction fluid cylinder three position five-way valve spool, the lower termination spring of traction fluid cylinder three position five-way valve spool；Traction fluid cylinder three position five-way valve has three from top to bottom: upper, and cleaner for high-pressure drilling fluid pressure line connects with traction fluid cylinder pressure piping, and traction fluid cylinder pressure piping connects with drilling fluid return bore hole annulus pipeline；Middle position, cleaner for high-pressure drilling fluid pressure line, drilling fluid return bore hole annulus pipeline, draw fluid cylinder pressure piping, traction fluid cylinder pressure piping is each turned off into off state；The next: cleaner for high-pressure drilling fluid pressure line connects with traction fluid cylinder pressure piping, traction fluid cylinder pressure piping connects with drilling fluid return bore hole annulus pipeline；Traction fluid cylinder three position five-way valve upper and the next mode of communicating employing adjustable mode of communicating: the position of precision control valve core can control upper three and connect interface size so that input and output stream rate of flow of fluid be effectively controlled；The upper termination traction control servomotor of traction fluid cylinder three position five-way valve spool, traction control servomotor can accurately control to draw the position of fluid cylinder three position five-way valve spool.

Preferably, traction control servomotor is accurately controlled the displacement of traction fluid cylinder three position five-way valve spool, upper and the next valve core channel overflow section size of traction fluid cylinder three position five-way valve is adjusted with spool displacement, control traction control servomotor and be accurately controlled the upper and the next valve core channel overflow section size of traction fluid cylinder three position five-way valve, control uninterrupted, control hauling speed size；Support and control servomotor is accurately controlled the displacement supporting four five-way valve spools of fluid cylinder, the four-position valve core passage overflow section size supporting four five-way valves of fluid cylinder is adjusted with spool displacement, control traction control servomotor and be accurately controlled the upper and the next valve core channel overflow section size of traction fluid cylinder three position five-way valve, control uninterrupted, the size of the speed that control upper slips and lower slips open and shrink.

Preferably, support and under four five-way valves of fluid cylinder, terminate back-moving spring, four five-way valve spools of power-off rear support fluid cylinder move to the 4th pressure release loop state: drilling fluid return bore hole annulus pipeline connects with drilling liquid pressure pipeline and lower slips fluid cylinder pressure piping simultaneously, make the circulating liquid in upper slips fluid cylinder and lower card fluid cylinder be back to low pressure bore hole annulus by circulation fluid pipeline simultaneously, upper slips and lower slips leave the borehole wall simultaneously, prevent power-off from causing bit freezing.

Preferably, upper center slip pipe is machined with the first upper slips fluid cylinder pressure piping, the second upper slips fluid cylinder pressure piping, upper traction fluid cylinder pressure piping, lower traction fluid cylinder pressure piping respectively along tube wall；The lower end outlet of the first upper slips fluid cylinder pressure piping, the lower end outlet of the second upper slips fluid cylinder pressure piping, the lower end outlet of upper traction fluid cylinder pressure piping, the lower end periphery of outlet Dou Shang center, the lower end slip pipe of lower traction fluid cylinder pressure piping, and be connected with fluid pressure line module respectively；The upper end outlet of the first upper slips fluid cylinder pressure piping on upper supporting system is in center slip pipe topmost time upper slips fluid cylinder coverage on the slip pipe of upper center in, the upper end outlet of the second upper slips fluid cylinder pressure piping is on upper supporting system is in during center slip pipe bottom in upper slips fluid cylinder coverage on the slip pipe of upper center；The upper end outlet of upper and lower two traction fluid cylinder pressure pipings is respectively in the two sides up and down of traction liquid cylinder piston；Fluid pressure line module controls the first upper slips fluid cylinder pressure piping and disconnects or connection, the connection of the second upper slips fluid cylinder pressure piping or disconnection, input or the output circulating liquid to upper slips fluid cylinder；Fluid pressure line module controls traction fluid cylinder pressure piping and to the input of upper traction fluid cylinder or exports circulating liquid, and fluid pressure line module controls traction fluid cylinder pressure piping and to the output of lower traction fluid cylinder or inputs circulating liquid, promotes traction liquid cylinder piston to move downward or upward.

The present invention compared with prior art, has had the advantage that:

(1) motility of traction apparatus control system is preferable: the simple heavily hydraulic control in the main side of traction apparatus control system of studies in China or simple electric control, higher to hydraulic pressure dependency, driving control system is more complicated；Traction apparatus control system of the present invention uses hydraulic-driven to control, coordinate electronic control module, the method of servomotor integrating control, reduce the complexity of the pipeline of pure hydraulic control, no matter ground pump pressure has much, as long as there is pressure reduction inside and outside downhole tractor and being energized, just can start traction apparatus work, simultaneously, liquid in-out valve uses 3 position-5 way valve and four position-5 way valves, by servo step motor, spool position accurately can be controlled, adjust terminal valve size, control flow, reach to control flexibly the purpose of hauling speed, the motility controlled is preferable.

(2) traction apparatus control system is applicable to traction control operation under slim hole well: domestic a lot of traction apparatus control systems are applicable to the traction apparatus of the bigger tie-bar support structure of borehole diameter or pipe wheeled construction and control, and are not suitable for the control of small diameter borehole traction apparatus；The support system that traction apparatus control system of the present invention uses is inclined-plane slip extrapolation slips expansion type structure, support section is compacter, effectively reduce traction apparatus minimum and be suitable for borehole diameter, make control system can be suitably used for the downhole tractor traction control operation of slim-hole even Microdrilling.

(3) traction apparatus control system can guarantee that normal down-hole liquid circulates in controlling distraction procedure: most domestic traction apparatus control system is for well logging traction apparatus design, it cannot be guaranteed that normal drilling fluid or flushing fluid circulate in work；Traction apparatus control system of the present invention reserves inner cycle channel, and fluid circulation can be effectively ensured during underground work.

(4) traction apparatus control system can realize power-off protection effectively: most domestic traction apparatus control system does not has power-off or without automatic safety device during hydraulic pressure；Traction apparatus control system of the present invention promotes four five-way valves to slips fluid cylinder pressure release by spring when using power-off, support system is made to rely on spring reverse motion, in power-off or without acting force of the spring can be relied in the case of being pumped to automatically retract slips, reduce the generation of the complex situations such as traction apparatus down-hole bit freezing.

(5) traction apparatus control system can realize bivector traction control: most domestic traction apparatus can only realize unidirectional traction control；Traction apparatus control system of the present invention can control smoothly traction apparatus traction tubing string be taken out and under enter operation, motility is good.

Accompanying drawing explanation

Fig. 1 is Electro-hydraulic drive coiled tubing downhole tractor schematic front view；

Fig. 2 is Electro-hydraulic drive coiled tubing downhole tractor schematic top plan view；

Fig. 3 a is Electro-hydraulic drive coiled tubing downhole tractor upper slips top half A-A generalized section along Fig. 2 when opening；

Top half A-A generalized section along Fig. 2 when Fig. 3 b is Electro-hydraulic drive coiled tubing downhole tractor upper slips Guan Bi；

Fig. 4 a is Electro-hydraulic drive coiled tubing downhole tractor upper slips the latter half A-A generalized section along Fig. 2 when opening；

The latter half A-A generalized section along Fig. 2 when Fig. 4 b is Electro-hydraulic drive coiled tubing downhole tractor upper slips Guan Bi；

Original state hydraulic principle schematic diagram when Fig. 5 a is the work of Electro-hydraulic drive coiled tubing downhole tractor；

Fig. 5 b is that Electro-hydraulic drive coiled tubing downhole tractor upper slips Guan Bi leaves borehole wall hydraulic principle schematic diagram；

Fig. 5 c is Electro-hydraulic drive coiled tubing downhole tractor upper slips downwards traction hydraulic control principle schematic overall with traction fluid cylinder；

Fig. 5 d is that Electro-hydraulic drive coiled tubing downhole tractor upper slips opens promptly borehole wall hydraulic principle schematic diagram；

Fig. 5 e is that Electro-hydraulic drive coiled tubing downhole tractor lower slips Guan Bi leaves borehole wall hydraulic principle schematic diagram；

Fig. 5 f is Electro-hydraulic drive coiled tubing downhole tractor center slip pipe and lower slips entirety moves down hydraulic principle schematic diagram；

Fig. 5 g is that Electro-hydraulic drive coiled tubing downhole tractor lower slips opens promptly borehole wall hydraulic principle schematic diagram；

Original state power-off protection hydraulic principle schematic diagram when Fig. 6 a is the work of Electro-hydraulic drive coiled tubing downhole tractor；

Fig. 6 b is that Electro-hydraulic drive coiled tubing downhole tractor upper slips Guan Bi leaves borehole wall power-off protection hydraulic principle schematic diagram；

Fig. 6 c is Electro-hydraulic drive coiled tubing downhole tractor upper slips downwards traction power-off protection hydraulic principle schematic diagram overall with traction fluid cylinder；

Fig. 6 d is that Electro-hydraulic drive coiled tubing downhole tractor upper slips opens promptly borehole wall power-off protection hydraulic principle schematic diagram；

Fig. 6 e is that Electro-hydraulic drive coiled tubing downhole tractor lower slips Guan Bi leaves borehole wall hydraulic principle schematic diagram；

Fig. 6 f is Electro-hydraulic drive coiled tubing downhole tractor center slip pipe and lower slips entirety moves down power-off protection hydraulic principle schematic diagram；

Fig. 6 g is that Electro-hydraulic drive coiled tubing downhole tractor lower slips opens promptly borehole wall power-off protection hydraulic principle schematic diagram；

In figure: 1, upper slips support system, 2, center slip pipe assembly, 3, control system, 4, lower slips support system；21, traction fluid cylinder housing, 22a, external screw thread, 23b, female thread, 23, traction fluid cylinder cap, 24, traction fluid cylinder cap seals；31, control system housing, 32, motor module, 33, fluid pressure line module, 34, electronic control module, 35, sealing ring, 36, circulation fluid filtration device, 37, circulation fluid filtration device seal, 38a, external screw thread, 38b, female thread；111, upper center slip pipe, 112, traction fluid cylinder pressure piping, 113, traction liquid cylinder piston, 114, traction fluid cylinder pressure piping, 115, traction fluid cylinder piston seal, 116, traction fluid cylinder piston displacement sensor, 117, traction fluid cylinder differential pressure pickup, 118, the first upper slips fluid cylinder pressure piping, the 119, second upper slips fluid cylinder pressure piping；121, upper slips bearing, 122, upper slips bearing scraper, 123a, upper slips Fixed latches groove and pin hole, 123b, upper slips steady pin, 124, upper slips, 125, upper slips support set；131, upper slips fluid cylinder lid, 132, upper slips lid seal, 133a, external screw thread, 133b, female thread, 134, upper slips return spring holder, 135, upper slips back-moving spring；141, upper slips liquid cylinder piston, 142, upper slips liquid cylinder piston displacement transducer, 143, upper slips liquid cylinder piston seal, 144, upper slips fluid cylinder, 145, upper fluid cylinder housing, 146, upper slips fluid cylinder housing seal, 147, traction fluid cylinder；321, traction control servomotor, 322, support and control servomotor；331, drilling fluid entrance cavity pressure line, 332, upper slips fluid cylinder two position three-way valve, 333, import pressure limiting two position three-way valve, 334, four five-way valves of fluid cylinder are supported, 335, import spring-loaded overflow valve, 336, drilling fluid return bore hole annulus pipeline, 337, drilling fluid input pressure pipeline, 338, traction fluid cylinder three position five-way valve, 339, drilling liquid pressure pipeline；411, lower center slip pipe, 412, lower slips fluid cylinder pressure piping, 413a, external screw thread, 413b, female thread；421, lower slips bearing, 422, lower slips bearing scraper, 423a, upper slips Fixed latches groove and pin hole, 423b, lower slips steady pin, 424, lower slips, 425, lower slips support set；431, lower slips fluid cylinder lid, 432, lower slips lid seal, 433a, external screw thread, 433b, female thread, 434, lower slips return spring holder, 435, lower slips back-moving spring；441, lower slips liquid cylinder piston, 442, lower slips liquid cylinder piston displacement transducer, 443, lower slips liquid cylinder piston seal, 444, lower slips fluid cylinder, 445, lower slips fluid cylinder housing, 446, lower slips fluid cylinder housing seal.

Detailed description of the invention

As it is shown in figure 1, Electro-hydraulic drive coiled tubing downhole tractor, support and trailer system 1, center slip pipe assembly 2, control system 3, lower slips support system 4 including upper slips.Upper slips support and trailer system 1 slide over the top of center slip pipe assembly 2, can slide up and down along center slip pipe assembly 2；Control system 3, lower slips support system 4 are fixed on the bottom of center slip pipe assembly 2.Upper slips supports the Main Function with trailer system 1: promptly the borehole wall supports traction apparatus and produces the pull strength offer counteracting force that axial friction is traction apparatus.The Main Function of control system 3 is by receiving ground signal, controls downhole tractor working.The Main Function of lower slips support system 4 is: promptly the borehole wall supports traction apparatus and produces the pull strength offer counteracting force that axial friction is traction apparatus.

Such as Fig. 1-2, shown in 3a, 3b, 4a, 4b, center slip pipe assembly 2 includes: upper center slip pipe 111, circulation fluid filtration device 36, lower center slip pipe 411.

Such as Fig. 1-2,3a, shown in 3b, upper center slip pipe 111 is a Circular Pipe, and upper center slip pipe 111 is machined with first upper slips fluid cylinder pressure piping the 118, second upper slips fluid cylinder pressure piping 119, upper traction fluid cylinder pressure piping 112, lower traction fluid cylinder pressure piping 114 respectively along tube wall；The traction liquid cylinder piston 113 being relatively large in diameter it is machined with on upper center slip pipe 111, the upper outlet of upper traction fluid cylinder pressure piping 112 and lower traction fluid cylinder pressure piping 114 lays respectively at the both sides up and down of traction liquid cylinder piston 113, and traction liquid cylinder piston 113 is provided with two traction fluid cylinder piston seal 115, traction fluid cylinder piston displacement sensor 116, traction fluid cylinder differential pressure pickups 117；Slip pipe 111 lower end, upper center is machined with and is tightly connected external screw thread 38a, lower end surface is provided with circular orientation flange.

Such as Fig. 1,4a, shown in 4b, lower center slip pipe 411 is the stairstepping Circular Pipe that a upper end external diameter little lower end external diameter is big, the upper end end face of lower center slip pipe 411 is provided with circular orientation flange, near the upper end of lower center slip pipe 411, it is machined with external screw thread 413a, in slip pipe 411 tube wall of lower center, is machined with lower slips fluid cylinder pressure piping 412.

Such as Fig. 1, shown in 3a, 3b, 4a, 4b, circulation fluid filtration device 36 is the cylinder with oblique sieve aperture；There is circular orientation groove at the two ends up and down of circulation fluid filtration device 36, circulation fluid filtration device 36 upper end is sealed 37 be tightly connected with upper center slip pipe 111 by circular orientation groove and two circulation fluid filtration device, and circulation fluid filtration device 36 lower end is sealed 37 be tightly connected with lower center slip pipe 411 by circular orientation groove and two circulation fluid filtration devices.The Main Function of circulation fluid filtration device 36 is to filter out the granule being relatively large in diameter in drilling circulation liquid, prevents clogging hydraulic pipeline.

Such as Fig. 3 a, shown in 3b, upper slips supports and includes upper slips bearing 121, upper slips 124, upper slips support set 125, upper slips fluid cylinder lid 131, upper slips return spring holder 134, upper slips back-moving spring 135, upper fluid cylinder housing 145, traction fluid cylinder cap 23 with trailer system 1.

Such as 2,3a, shown in 3b, upper slips bearing 121 is heavy wall short cylinder, and upper slips bearing 121 slides on upper center slip pipe 111 by cylinder endoporus, is provided with upper slips bearing scraper 122 between upper slips bearing 121 and upper center slip pipe 111；Uniform three set slips Fixed latches groove and the pin hole 123a of upper slips bearing 121 lower end cylindrical circumference.

Such as Fig. 3 a, shown in 3b, upper fluid cylinder housing 145 slides on upper center slip pipe 111 by the through hole at middle part, and upper fluid cylinder housing 145 upper inner diameter is little, and middle part internal diameter is minimum, and lower inner diameter is maximum；Form superposed upper slips fluid cylinder 144 between upper fluid cylinder housing and upper center slip pipe and be positioned at the traction fluid cylinder 147 of bottom；The external diameter of upper slips fluid cylinder housing 144 external diameter little, traction fluid cylinder housing 21 is big；Sealed by two upper slips fluid cylinder housing seals 146 between upper fluid cylinder housing 145 and upper center slip pipe 111；Along uniform three set slips Fixed latches groove and the pin holes of cylindrical circumference in the middle part of upper fluid cylinder housing 145.The upper end of upper slips fluid cylinder housing 144 is machined with female thread 133b；The lower end of traction fluid cylinder housing 21 is machined with female thread 22b.

Such as Fig. 3 a, shown in 3b, upper slips 124 is the elastic steel sheet that the narrow long strip type in middle wide two is axially symmetric, and radially there is triangular ramp centre, and there is parallel pin hole at two ends.The upper end of three upper slipses 124 by three set upper slips steady pin 123b be fixed on upper slips bearing 121 three set slips Fixed latches grooves and pin hole 123a in, the lower end of three upper slipses 124 by three overlap upper slips steady pins be fixed on upper fluid cylinder housing 145.

Such as Fig. 3 a, shown in 3b, upper slips fluid cylinder lid 131 is the middle heavy wall short cylinder having through hole, lower end is provided with closed type external screw thread 133a, upper slips fluid cylinder lid 131 slides on the cylinder of upper slips support set 125 core by intermediate throughholes, is provided with two upper slips lids and seals 132 between upper slips fluid cylinder lid 131 and the core cylinder of upper slips support set 125.Threaded with upper slips fluid cylinder lid 131 in upper fluid cylinder housing 145 upper end.

Such as Fig. 3 a, shown in 3b, upper slips support set 125 core is cylinder, and upper slips support set 125 slides on upper center slip pipe 111 by core cylinder, upper slips support set 125 lower end is machined with upper slips liquid cylinder piston 141, and upper slips liquid cylinder piston 141 is placed in upper slips fluid cylinder 147；On the cylinder top of upper slips support set 125 along three panes with triangular ramp of the uniform welding in excircle direction, triangular ramp is radially, and match with the triangular ramp on three upper slipses 124, upper slips liquid cylinder piston 141 is provided with a upper slips liquid cylinder piston displacement transducer 142 and four upper slips liquid cylinder pistons seal 143.Upper slips liquid cylinder piston 141 can promote upper slips support set 125 to slide vertically on upper center slip pipe 111 under fluid cylinder thrust: during when upward sliding, upper slips support set 125 is pushed three upper slipses 124 open by triangle inclined-plane and promptly supported the borehole wall.

Such as Fig. 3 a, shown in 3b, upper slips return spring holder 134 is the middle thin-walled cup type cylinder having through hole, the cup end, is upwardly against on upper slips fluid cylinder lid 131, upper slips back-moving spring 135 is helical spring, upper slips back-moving spring 135 be seated against upper slips return spring holder 134 interior in the air, upper slips back-moving spring 135 upper end withstands on the bottom surface, upper end of upper slips return spring holder 134, upper slips back-moving spring 135 lower end withstands on the end face of upper slips liquid cylinder piston 141, upper slips back-moving spring 135 slides on the cylinder of upper slips support set 125 core together with upper slips return spring holder 134.The Main Function of upper slips back-moving spring 135 is when upper slips fluid cylinder 144 pressure is removed, downward thrust is provided to upper slips liquid cylinder piston 141, make upper slips support set 125 slide downward, on upper slips support set 125, on triangle inclined-plane and upper slips 124, triangle inclined-plane unclamps, it is ensured that upper slips 124 can automatically retract in the case of extrapolability eliminates；When upper slips support set 125 regains the triangle inclined-plane extrapolation expansive force dismounting making upper slips 124, three upper slipses 124 can rely on natural resiliency and borehole wall backup effect to be retracted away from the borehole wall.The Main Function of upper slips return spring holder 134 be limit occur after triangular aslant face on upper slips support set 125 moves up the triangle inclined-plane peak exceeded on upper slips 124 locked: upper slips return spring holder 134 lower end is as the upper side moving limit position upwards of upper slips liquid cylinder piston 141, when the triangular aslant on upper slips support set 125 is towards the triangle inclined-plane peak being above moved on upper slips 124, the lower end of upper slips return spring holder 134 just withstands on the upper side of upper slips liquid cylinder piston 141, slips liquid cylinder piston 141 and upper slips support set 125 is made not to continue to slide up, stop upper slips 124 and upper slips support set 125 locked.

Such as Fig. 3 a, shown in 3b, the traction liquid cylinder piston 113 on upper center slip pipe 111 is positioned at traction fluid cylinder, and traction fluid cylinder 147 is divided into upper traction fluid cylinder and lower traction fluid cylinder.Traction fluid cylinder cap 23 is the middle heavy wall short cylinder having through hole, traction fluid cylinder cap 23 slides over the bottom of upper center slip pipe 111 by intermediate throughholes, upper end is provided with closed type external screw thread 22a, traction fluid cylinder housing 21 lower end and traction fluid cylinder cap 23 upper end and is threaded connection；24 sealings are sealed by two traction fluid cylinder caps between traction fluid cylinder cap 23 and upper center slip pipe 111.

Such as Fig. 1, shown in 4a, 4b, lower slips support system 4 includes: lower slips bearing 421, lower slips 424, lower slips support set 425, lower slips fluid cylinder lid 431, lower slips return spring holder 434, lower slips back-moving spring 435, lower slips fluid cylinder housing 445.

As shown in Fig. 2,4a, 4b, 5, lower slips bearing 421 is the middle cylinder having through hole, and lower slips bearing 421 slides on lower center slip pipe 411 by through hole, is provided with lower slips bearing scraper 422 between lower slips bearing 421 and lower center slip pipe 411；Be uniformly distributed along the circumference outside lower slips bearing 421 upper end three set slips Fixed latches groove and pin hole 423a.

Such as Fig. 2,4a, 4b, shown in 5, lower slips fluid cylinder housing 445 is the cylindrical shell that there is manhole upper coarse and lower fine centre, lower slips fluid cylinder housing 445 slides on lower center slip pipe 411 by manhole, is provided with in the middle of two upper slips fluid cylinder housing seals 446, lower slips fluid cylinder housing 445 and lower center slip pipe 411 and is sealed by two upper slips fluid cylinder housing seals 446 between lower slips fluid cylinder housing 445 and lower center slip pipe 411；Lower slips fluid cylinder housing 445 upper end inner headed face has female thread 413b, lower slips fluid cylinder housing 445 to be connected with lower center slip pipe 411 by female thread 413b.Lower slips fluid cylinder housing 445 upper surface has annular seal groove, lower slips fluid cylinder housing 445 upper end end face to be tightly connected with control system housing 31 lower end surface by sealing ring 35.Lower slips fluid cylinder housing 445 intermediary outside is uniformly distributed along the circumference three set slips Fixed latches groove and pin holes.

As shown in Fig. 4 a, 4b, 5, lower slips 424 is the elastic steel sheet that the narrow long strip type in middle wide two is axially symmetric, and radially there is triangular pyramidal inclined-plane centre, and there is parallel pin hole at two ends.Three lower slips 424 lower ends are fixed on lower slips bearing 421 in uniform way by three groups of lower slips steady pin 423b circumferences；The upper end of three lower slipses 424 is fixed in slips Fixed latches groove and the pin hole of lower slips fluid cylinder housing 445 by three set lower slips steady pins respectively.Three lower slipses 424 can open under lower slips support set 425 acts on, and can rely on natural resiliency and borehole wall extruding force Guan Bi after external force is removed.

Such as Fig. 4 a, 4b, 5, shown in 6, lower slips support set 425 core is cylinder, at three panes having triangular pyramidal inclined-plane of the most uniform welding in cylinder bottom, triangular pyramidal inclined-plane is radially, and match with each triangular pyramidal inclined-plane on three lower slipses 424, slip relatively can be done under thrust, to open three lower slipses 424；Lower slips support set 425 upper end is machined with lower slips liquid cylinder piston 441, and lower slips liquid cylinder piston 441 is placed in lower slips fluid cylinder 444；Being provided with a lower slips liquid cylinder piston displacement transducer 442 on lower slips liquid cylinder piston 441 and four lower slips liquid cylinder pistons seal 443, lower slips support set 425 is that cylinder slides on lower center slip pipe 411 by core.Lower slips liquid cylinder piston 441 can promote lower slips support set 425 to slide axially on lower center slip pipe 411 under fluid cylinder thrust, and when slide downward, lower slips support set 425 opens three lower slipses 424 promptly support the borehole wall by chasing after inclined-plane.

Such as Fig. 4 a, shown in 4b, lower slips fluid cylinder lid 431 is the middle short cylinder having through hole, lower slips fluid cylinder lid 431 slides on the cylinder of lower slips support set 425 core by intermediate throughholes, is provided with two lower slips lids and seals 432 between lower slips fluid cylinder lid 431 and the core cylinder of lower slips support set 425；There is closed type external screw thread 433a lower slips fluid cylinder lid 431 upper end；Lower slips fluid cylinder housing 445 is played a supportive role by lower slips fluid cylinder lid 431.

Such as Fig. 4 a, shown in 4b, lower slips return spring holder 434 is the middle cup type cylinder having through hole, and down against on lower slips fluid cylinder lid 431 at the bottom of cup, lower slips back-moving spring 435 is seated against on the cylinder sliding over lower slips support set 425 core in lower slips return spring holder 434 together.Lower slips back-moving spring 435 lower end is seated against on lower slips return spring holder 434, and lower slips back-moving spring 435 upper end is resisted against the bottom surface of lower slips liquid cylinder piston 441.Lower slips return spring holder 434 upper end is the downward moving limit position of the lower slips liquid cylinder piston 441 on lower slips support set 425, guarantee on lower slips support set 425 on triangle inclined-plane and lower slips 424 that triangle inclined-plane can reach maximum and open fixed point, but can not slip over locked；Lower slips back-moving spring 435, when lower slips fluid cylinder housing 445 distress resolves, relies on spring force to promote lower slips support set 425 upwards to regain.When upward sliding, lower slips support set 425 is regained, and removes at extrapolability, and three lower slipses 424 can rely on natural resiliency and borehole wall backup effect to be retracted away from the borehole wall.

Such as Fig. 3 a, shown in 3b, 4a, 4b, lower slips fluid cylinder pressure piping 412 upper end is connected with electronic control module 34, and lower end is connected with lower traction fluid cylinder；Lower slips fluid cylinder pressure piping 412 is for inputting and output liquid to lower slips fluid cylinder 444.The lower end outlet of the first upper slips fluid cylinder pressure piping 118, the lower end outlet of the second upper slips fluid cylinder pressure piping 119, the lower end outlet of traction fluid cylinder pressure piping 112, the lower end periphery of outlet Dou Shang center, the lower end slip pipe 111 of traction fluid cylinder pressure piping 114, and be connected with fluid pressure line module 33 respectively；Fluid pressure line module 33 is according to the position of upper slips fluid cylinder 144, control respectively the first upper slips fluid cylinder pressure piping 118 disconnect or connect, the connection of the second upper slips fluid cylinder pressure piping 119 or disconnection, it is achieved input or the output circulating liquid to upper slips fluid cylinder 144；Fluid pressure line module 33 controls traction fluid cylinder pressure piping 112 and to the input of upper traction fluid cylinder or exports circulating liquid, and traction fluid cylinder pressure piping 114 moves to the output of lower traction fluid cylinder or input circulating liquid, promotion traction liquid cylinder piston 113 downward or upward simultaneously.

Such as Fig. 4 a, shown in 4b, control system 3 includes control system housing 31, motor module 32, fluid pressure line module 33, electronic control module 34.Control system housing 31 is the cylinder having internal cavities, and control system housing 31 lower end surface is provided with annular seal groove.The upper end of control system housing 31 has female thread 38b, lower end is respectively provided with female thread 413b, control system housing 31 upper end is connected with the external screw thread 38a on upper center slip pipe 111 by female thread 38b, and control system housing 31 lower end is connected with the external screw thread 413a on lower center slip pipe 411 by female thread 413b.Motor module 32, fluid pressure line module 33, electronic control module 34 it is sequentially installed with from top to bottom in control system housing 31 cavity.Control system housing 31 effect has 2 points: assemble and support motor module 32, fluid pressure line module 33, electronic control module 34；Center slip pipe 111 and lower center slip pipe 411 in connection.The Main Function of fluid pressure line module 33 provides the control hydraulic circuit of the inputs such as upper slips fluid cylinder 144, lower slips fluid cylinder 444, the traction fluid cylinder pressure piping 112 of traction fluid cylinder 147 and traction fluid cylinder pressure piping 114 and output pipe, and be controlled, it is achieved the normal work of traction apparatus.

Such as Fig. 4 a, 4b, 5, shown in 6, motor module 32 includes traction control servomotor 321, support and control servomotor 322；Traction control servomotor 321 and support and control servomotor 322 are sent instruction by electronic control module 34 respectively and are controlled；The Main Function of traction control servomotor 321 is the spool displacement accurately realizing accurately controlling traction fluid cylinder three position five-way valve 338, and the Main Function of support and control servomotor 322 is the spool displacement accurately realizing accurately controlling to support four five-way valves 334 of fluid cylinder.

Such as Fig. 5, shown in 6, fluid pressure line module 33 includes upper slips fluid cylinder two position three-way valve 332, import pressure limiting two position three-way valve 333, supports four five-way valves 334 of fluid cylinder, import spring-loaded overflow valve 335, draws fluid cylinder three position five-way valve 338.

Such as Fig. 5, shown in 6, upper slips fluid cylinder two position three-way valve 332, Main Function is to control drilling liquid pressure pipeline 339 to be connected or off-state with the first upper slips fluid cylinder pressure piping 118, the disconnection with the second upper slips fluid cylinder pressure piping 119 or connection status；Three-way interface pipeline is respectively as follows: entrance termination drilling liquid pressure pipeline 339, and remaining two leads to the port of export and connect the first upper slips fluid cylinder pressure piping 118 and the second upper slips fluid cylinder pressure piping 119 respectively；Wherein two are controlled by spring and electromagnetic valve, and two motor processs are respectively as follows:

(1) during the energising of the electric magnet on two position three-way valve 332, electric magnet produces magnetic force and overcomes by spring effect, promotion spool moves to right, drilling liquid pressure pipeline 339 connects with the first upper slips fluid cylinder pressure piping 118, disconnect with the second upper slips fluid cylinder pressure piping 119, make the second upper slips fluid cylinder pressure piping 119 open circuit；

(2) during the electric magnet power-off on two position three-way valve 332, by spring effect, spool moves to left, and makes drilling liquid pressure pipeline 339 connect with the second upper slips fluid cylinder pressure piping 119, disconnect with the first upper slips fluid cylinder pressure piping 118, make the first upper slips fluid cylinder pressure piping 118 open circuit.

Such as Fig. 5, shown in 6, import pressure limiting two position three-way valve 333, Main Function is to control cleaner for high-pressure drilling fluid pressure line 337 disconnect with drilling fluid entrance cavity pressure line 331 or connect；Three-way interface pipeline is respectively as follows: entrance termination drilling fluid entrance cavity pressure line 331, and two ports of export connect cleaner for high-pressure drilling fluid pressure line 337 and drilling fluid return bore hole annulus pipeline 336 respectively；Electric magnet end hydraulic control entrance connects drilling fluid entrance cavity pressure line 331, and spring terminal hydraulic control entrance connects drilling fluid return bore hole annulus pipeline 336；Wherein two are controlled with the pressure reduction of drilling fluid return bore hole annulus pipeline 336 by spring, electric magnet magnetic force, drilling fluid entrance cavity pressure line 331, and duty is respectively as follows:

(1) when drilling fluid entrance cavity pressure line 331 and the pressure reduction connecing drilling fluid return bore hole annulus pipeline 336 reach predetermined value, two position three-way valve 333 produces under magnetic force moving at pressure reduction and electric magnet, overcome by acting force of the spring, promotion spool moves to right, drilling fluid entrance cavity pressure line 331 connects with cleaner for high-pressure drilling fluid pressure line 337, and drilling fluid return bore hole annulus pipeline 336 disconnects with cleaner for high-pressure drilling fluid pressure line 337；

(2) when drilling fluid entrance cavity pressure line 331 and the pressure reduction connecing drilling fluid return bore hole annulus pipeline 336 are not reaching to predetermined value, two position three-way valve 333 overcomes the magnetic force of pressure reduction thrust and electric magnet under the action of the spring, promotion spool moves to left, drilling fluid entrance cavity pressure line 331 disconnects with cleaner for high-pressure drilling fluid pressure line 337, and drilling fluid entrance cavity pressure line 331 connects with drilling fluid return bore hole annulus pipeline 336.Drilling fluid entrance cavity pressure line 331 is set by the size of the electric current of electronic control module 34 control input electric magnet with the big I of the pressure reduction predetermined value of cleaner for high-pressure drilling fluid pressure line 337.

Such as Fig. 5; shown in 6; import spring-loaded overflow valve 335 is bi-bit bi-pass spring electromagnetic relief valve, and Main Function is that the pressure reduction limiting cleaner for high-pressure drilling fluid pressure line 337 and drilling fluid return bore hole annulus pipeline 336 not can exceed that maximum preset value, and fluid pressure line module 33 is played safeguard protection effect.The entrance of import spring-loaded overflow valve 335 connects cleaner for high-pressure drilling fluid pressure line 337, the outlet termination drilling fluid return bore hole annulus pipeline 336 of import spring-loaded overflow valve 335, spring terminal hydraulic control entrance connects drilling fluid return bore hole annulus pipeline 336, and electric magnet end hydraulic control entrance connects cleaner for high-pressure drilling fluid pressure line 337.Two of import spring-loaded overflow valve 335 are that pressure reduction and spring thrust by cleaner for high-pressure drilling fluid pressure line 337 with drilling fluid return bore hole annulus pipeline 336 are controlled, making cleaner for high-pressure drilling fluid pressure line 337 connect with drilling fluid return bore hole annulus pipeline 336 or disconnect, duty is as follows:

(1) when the pressure reduction of cleaner for high-pressure drilling fluid pressure line 337 and drilling fluid return bore hole annulus pipeline 336 reaches preset maximum value, spool moves to left, cleaner for high-pressure drilling fluid pressure line 337 connects with drilling fluid return bore hole annulus pipeline 336, cleaner for high-pressure drilling fluid pressure line 337 is to drilling fluid return bore hole annulus pipeline 336 pressure release, cleaner for high-pressure drilling fluid pressure line 337 decreases with the pressure reduction of drilling fluid return bore hole annulus pipeline 336, until less than maximum differential pressure preset value；

(2) when the pressure reduction of cleaner for high-pressure drilling fluid pressure line 337 with drilling fluid return bore hole annulus pipeline 336 decreases up to less than maximum differential pressure preset value, spool moves to right, and cleaner for high-pressure drilling fluid pressure line 337 disconnects with drilling fluid return bore hole annulus pipeline 336.Cleaner for high-pressure drilling fluid pressure line 337 is set by the size of the electric current of electronic control module 34 control input electric magnet with the big I of the pressure reduction maximum preset value of drilling fluid return bore hole annulus pipeline 336.

Such as Fig. 5, shown in 6, the entrance supporting four five-way valves 334 of fluid cylinder connects cleaner for high-pressure drilling fluid pressure line 337, and two bypass outlets all connect drilling fluid return bore hole annulus pipeline 336, and other two outlets connect drilling liquid pressure pipeline 339 and lower slips fluid cylinder pressure piping 412 respectively.When support four five-way valves 334 of fluid cylinder divide four: first from top to bottom, drilling liquid pressure pipeline 339 connects with drilling fluid return bore hole annulus pipeline 336, and cleaner for high-pressure drilling fluid pressure line 337 connects with lower slips fluid cylinder pressure piping 412；During second, cleaner for high-pressure drilling fluid pressure line 337 connects with drilling liquid pressure pipeline 339 and lower slips fluid cylinder pressure piping 412 respectively simultaneously, and drilling fluid return bore hole annulus pipeline 336 disconnects with drilling liquid pressure pipeline 339 and lower slips fluid cylinder pressure piping 412；When the 3rd, cleaner for high-pressure drilling fluid pressure line 337 connects with connecing drilling liquid pressure pipeline 339, and lower slips fluid cylinder pressure piping 412 connects with drilling fluid return bore hole annulus pipeline 336；When the 4th, drilling fluid return bore hole annulus pipeline 336 respectively simultaneously with connect drilling liquid pressure pipeline 339 and lower slips fluid cylinder pressure piping 412 connects, cleaner for high-pressure drilling fluid pressure line 337 disconnects with drilling liquid pressure pipeline 339 and lower slips fluid cylinder pressure piping 412 simultaneously.Support three mode of communicating on four five-way valves 334 of fluid cylinder and use adjustable mode of communicating: the position of precision control valve core can control upper three connection interface sizes so that input and output stream rate of flow of fluid be effectively controlled.Support the upper termination support and control servomotor 322 of four five-way valve 334 spools of fluid cylinder, the lower termination spring of spool；The Main Function of support and control servomotor 322 is the position controlling to support four five-way valve 334 spools of fluid cylinder, it is ensured that the spool precise displacement on four respectively, the Main Function of the lower termination spring of spool can promote spool to return to pressure release state when being powered off automatically.

The Main Function supporting four five-way valves 334 of fluid cylinder is: control cleaner for high-pressure drilling fluid pressure line 337 and drilling liquid pressure pipeline 339 and the connection of lower slips fluid cylinder pressure piping 412 or disconnection, drilling liquid pressure pipeline 339 or lower slips fluid cylinder pressure piping 412 inputs highly pressurised liquid or stops input；Control drilling fluid return bore hole annulus pipeline 336 and cleaner for high-pressure drilling fluid pressure line 337 and the connection of drilling fluid input drilling liquid pressure pipeline 339 or disconnection, cleaner for high-pressure drilling fluid pressure line 337 and drilling fluid are inputted drilling liquid pressure pipeline 339 and carries out pressure release or disconnection；Automatically drilling fluid input drilling liquid pressure pipeline 339 or lower slips fluid cylinder pressure piping 412 can be carried out pressure release under powering-off state, make upper slips 124 and lower slips 424 can automatically revert to contraction state, prevent bit freezing phenomenon from occurring.

Such as Fig. 5, shown in 6, the function that support four five-way valves 334 of fluid cylinder realize respectively in the case of different four is as follows:

(1) first: drilling fluid return bore hole annulus pipeline 336 connects with drilling liquid pressure pipeline 339, drilling liquid pressure pipeline 339 connects with the first upper slips fluid cylinder pressure piping 118 or the second upper slips fluid cylinder pressure piping 119, upper slips fluid cylinder 144 circulating liquid is made to be back to low pressure well limit annular space, upper slips back-moving spring 135 promotes upper slips liquid cylinder piston 141 and upper slips support set 125 to move down, upper slips support set 125 and upper slips 124 triangle inclined-plane slide separately, and upper slips 124 shrinks away from the borehole wall under natural resiliency and borehole wall backup effect；Cleaner for high-pressure drilling fluid pressure line 337 connects with lower slips fluid cylinder pressure piping 412 simultaneously, to lower slips fluid cylinder 444 conveying high-pressure circulating liquid, lower slips liquid cylinder piston 441 overcomes the resistance of lower slips back-moving spring 435 to drive lower slips support set 425 to push down on, and lower slips support set 425 forces lower slips 424 to open promptly under the effect on triangle inclined-plane and supports and wall；When the circulation fluid flow velocity of input and output accurately can control that lower slips support set 425 is moved down by support and control servomotor 322, triangle inclined-plane slides and opens the speed of the lower slips 424 promptly support borehole wall and upper slips 124 shrinks away from the speed of the borehole wall under natural resiliency and borehole wall backup effect and can be effectively controlled；

(2) second: cleaner for high-pressure drilling fluid pressure line 337 connects with drilling liquid pressure pipeline 339 and lower slips fluid cylinder pressure piping 412 simultaneously, by circulation line simultaneously to upper slips fluid cylinder 144 and lower card fluid cylinder 444 conveying high-pressure circulating liquid, make upper slips 124 and lower slips 424 open simultaneously and promptly support the borehole wall；The circulation fluid flow velocity of input and output accurately can be controlled by support and control servomotor 322 so that upper slips 124 and lower slips 424 open simultaneously and promptly support the speed of the borehole wall and can be effectively controlled.

(3) the 3rd: cleaner for high-pressure drilling fluid pressure line 337 connects with drilling liquid pressure pipeline 339, drilling liquid pressure pipeline 339 passes through upper slips fluid cylinder two position three-way valve 332 to the first upper slips fluid cylinder pressure piping 118 or the second upper slips fluid cylinder pressure piping 119 conveying high-pressure liquid, promoting upper slips liquid cylinder piston 141 to overcome upper slips back-moving spring 135 resistance to move up, when making to move on upper slips support set 125, triangle inclined-plane slides and opens upper slips 124 and promptly support the borehole wall.Simultaneously, drilling fluid return bore hole annulus pipeline 336 connects with lower slips fluid cylinder pressure piping 412, lower slips fluid cylinder 444 circulating liquid is made to be back to low pressure bore hole annulus, lower slips back-moving spring 435 promotes lower slips liquid cylinder piston 441 and lower slips support set 425 upwardly, lower slips support set 425 and lower slips 424 triangle inclined-plane slide separately, and lower slips 424 shrinks away from the borehole wall under natural resiliency and borehole wall backup effect.The circulation fluid flow velocity of input and output accurately can be controlled by support and control servomotor 322 so that when making to move on upper slips support set 125, triangle inclined-plane slides and opens upper slips 124 and promptly support the speed of the borehole wall and lower slips 424 shrinks away from the speed of the borehole wall under natural resiliency and borehole wall backup effect and can be effectively controlled.

(4) the 4th: in the event of a power failure, support four five-way valves 334 of fluid cylinder and automatically return to pressure release loop state under the action of the spring: drilling fluid return bore hole annulus pipeline 336 connects with drilling liquid pressure pipeline 339 and lower slips fluid cylinder pressure piping 412 simultaneously, make the circulating liquid in upper slips fluid cylinder 144 and lower card fluid cylinder 444 be back to low pressure bore hole annulus by circulation fluid pipeline simultaneously, make upper slips 124 and lower slips 424 leave the borehole wall simultaneously, prevent the generation of the special circumstances such as power-off or bit freezing.

Such as Fig. 5, shown in 6, one entrance of traction fluid cylinder three position five-way valve 338 connects cleaner for high-pressure drilling fluid pressure line 337, and two bypass outlets all connect drilling fluid return bore hole annulus pipeline 336, and other two outlets connect traction fluid cylinder pressure piping 112 and traction fluid cylinder pressure piping 114 respectively.Traction fluid cylinder three position five-way valve 338 divides three from top to bottom: upper, and cleaner for high-pressure drilling fluid pressure line 337 connects with traction fluid cylinder pressure piping 114, and traction fluid cylinder pressure piping 112 connects with drilling fluid return bore hole annulus pipeline 336；Middle position, cleaner for high-pressure drilling fluid pressure line 337, drilling fluid return bore hole annulus pipeline 336, draw fluid cylinder pressure piping 114, traction fluid cylinder pressure piping 112 is each turned off into off state；The next: cleaner for high-pressure drilling fluid pressure line 337 connects with traction fluid cylinder pressure piping 112, traction fluid cylinder pressure piping 114 connects with drilling fluid return bore hole annulus pipeline 336.Traction fluid cylinder three position five-way valve 338 upper and the next mode of communicating employing adjustable mode of communicating: the position of precision control valve core can control upper three and connect interface size so that input and output stream rate of flow of fluid be effectively controlled.The upper termination traction control servomotor 321 of traction fluid cylinder three position five-way valve 338 spool, lower termination spring, the Main Function of traction control servomotor 321 is the position controlling traction fluid cylinder three position five-way valve 338 spool, it is ensured that the spool precise displacement on four respectively.

The Main Function of traction fluid cylinder three position five-way valve 338 is to make drilling liquid pressure pipeline 337 connect with traction fluid cylinder pressure piping 112, fluid cylinder infusion fluid upper to traction carries out pressurising, making drilling fluid return bore hole annulus pipeline 336 connect with traction fluid cylinder pressure piping 114, fluid cylinder output liquid lower to traction carries out pressure release simultaneously；Or make drilling liquid pressure pipeline 337 connect with traction fluid cylinder pressure piping 114, fluid cylinder infusion fluid lower to traction carries out pressurising, making drilling fluid return bore hole annulus pipeline 336 connect with traction fluid cylinder pressure piping 112, fluid cylinder output liquid upper to traction carries out pressure release simultaneously；Or making drilling liquid pressure pipeline 337, drilling fluid return bore hole annulus pipeline 336, draw fluid cylinder pressure piping 112, traction fluid cylinder pressure piping 114 is each turned off being in off state, keeps the traction liquid cylinder piston 113 invariant position in traction fluid cylinder 147.

The function that traction fluid cylinder three position five-way valve 338 realizes respectively in the case of three, upper, middle and lower is as follows:

(1) upper: cleaner for high-pressure drilling fluid pressure line 337 connects with traction fluid cylinder pressure piping 114, to traction fluid cylinder 147 lower fluid cylinder input cycle of higher pressure liquid, pressure raises；Simultaneously, traction fluid cylinder pressure piping 112 connects with drilling fluid return bore hole annulus pipeline 336, the upper fluid cylinder circulation fluid making traction fluid cylinder 147 is back to low pressure bore hole annulus, pressure reduces, traction liquid cylinder piston 113 moves up under the effect drawing upper and lower fluid cylinder pressure reduction so that in traction, the relative upper slips 124 of center slip pipe 111 moves up；But the circulation fluid flow velocity of input and output accurately can be controlled by traction control servomotor 321 so that the speed that the speed that traction liquid cylinder piston 113 moves up moves up with the traction upper center relative upper slips 124 of slip pipe 111 can be effectively controlled.

(2) position in: drilling fluid input pressure pipeline 337, traction fluid cylinder pressure piping 112, traction fluid cylinder pressure piping 114, drilling fluid return bore hole annulus pipeline 336 is each turned off so that traction liquid cylinder piston 113 keeps resting state with the traction upper center relative upper slips 124 of slip pipe 111.

(3) the next: cleaner for high-pressure drilling fluid pressure line 337 connects with traction fluid cylinder pressure piping 112, to traction fluid cylinder 147 upper fluid cylinder input cycle of higher pressure liquid, pressure raises；Simultaneously, traction fluid cylinder pressure piping 114 connects with drilling fluid return bore hole annulus pipeline 336, the lower fluid cylinder circulation fluid making traction fluid cylinder 147 is back to low pressure bore hole annulus, traction liquid cylinder piston 113 moves down under the effect drawing upper and lower fluid cylinder pressure reduction, make to draw the relative upper slips 124 of center slip pipe 111 to move down, but the circulation fluid flow velocity of input and output accurately can be controlled by traction control servomotor 321, make to draw the speed that moves down of liquid cylinder piston 113 and make to draw the speed that the relative upper slips 124 of upper center slip pipe 111 moves down and can be effectively controlled.

Electronic control module 34 receives cable after the signal that ground is transmitted, and is separately converted to action command and flows to traction control servomotor 321 and support and control servomotor 322.After traction control servomotor 321 receives action command, the spool shift position of traction fluid cylinder three position five-way valve 338 is accurately controlled, realize drawing the unlatching of fluid cylinder and stopping, pull strength size, hauling speed size, the accurate control of lead；After support and control servomotor 322 receives action command, the spool shift position supporting four five-way valves 334 of fluid cylinder is accurately controlled, realizes upper slips 124 and the sequencing opened of lower slips 424, the degree opened, the speed opened, the accurate of size of opening force control.

Increase along with the continuous oil pipe operation degree of depth, especially at extended reach well, horizontal well etc., only the injected system by ground can not make downhole tool enter under continuing or trip out, ground drilling pump must be utilized to provide hydraulic energy to circulation fluid, and send instruction by ground to control system 3, traction apparatus is made to open normal work, as shown in Figure 5 a: three upper slipses 124 of the upper slips support system 1 of traction apparatus and three lower slipses 424 of lower slips support system 4 all open the promptly borehole wall, traction liquid cylinder piston 113 is moved down near traction fluid cylinder cap 23.In Fig. 5 a, the state of traction apparatus divides following 6 steps as follows for its workflow of job initiation state:

The first step, as shown in Figure 5 b, after control system 3 receives ground signal, instruction is sent to electronic control module 34, electronic control module 34 changes into motor movement instructions, motor module 32 is promoted to control fluid pressure line module 33, make traction control servomotor 321 and support and control servomotor 322 operate promotion traction fluid cylinder three position five-way valve 338 respectively and support four five-way valves 334 of fluid cylinder: making traction fluid cylinder three position five-way valve 338 be in middle position, drilling fluid input pressure pipeline 337, traction fluid cylinder pressure piping 112, traction fluid cylinder pressure piping 114, drilling fluid return bore hole annulus pipeline 336 is each turned off, make to draw liquid cylinder piston 113 and keep resting state with the traction upper center relative upper slips 124 of slip pipe 111；Four five-way valves 334 of support fluid cylinder are made to be in first, first upper slips fluid cylinder pressure piping 118 connects with drilling fluid return bore hole annulus pipeline 336, second upper slips fluid cylinder pressure piping 119 is closed, upper slips fluid cylinder 144 pressure release, upper slips liquid cylinder piston 141 moves down under the effect of upper slips back-moving spring 135, upper slips support set 125 is driven to regain, upper slips 124 is after the expansive force effect losing upper slips support set 125, by well effect and the elastic automatic drawing back of self, upper slips 124 disappears with the grasp of the borehole wall, when upper slips liquid cylinder piston 141 resets to bottom, upper slips liquid cylinder piston displacement transducer 142 on upper slips liquid cylinder piston 141 produces displacement Stopping signal, and it is sent to control system 3.

As shown in Figure 6 b, when the power break occurs: upper slips fluid cylinder two position three-way valve 332, import pressure limiting two position three-way valve 333, import spring-loaded overflow valve 335, traction fluid cylinder three position five-way valve 338 maintains the original state constant；Support the spool of four five-way valves 334 of fluid cylinder under the action of the spring automatically on move to the 4th, make drilling liquid pressure pipeline 339 connect with drilling fluid return well limit annular space pipeline 336 with lower slips fluid cylinder pressure piping 412 simultaneously, making upper slips fluid cylinder 144 maintain the original state under upper slips back-moving spring 135 acts on constant, upper slips 124 state that remains retracted is constant；The circulating liquid making lower slips fluid cylinder 444 arrives bore hole annulus back through drilling fluid return bore hole annulus pipeline 336 under the effect of lower slips back-moving spring 435, lower slips 425 is after the expansive force effect losing lower slips support set 425, by well effect and the elastic automatic drawing back of self, make lower slips 425 can automatically return to contraction state after a loss of power；Therefore, after power-off, upper slips 124 and lower slips 425 can keep after a loss of power or automatically return to contraction state, prevents the generation of down-hole lock of tool drilling, effectively achieves the automatic protection functions of power-off.

Second step, as shown in Figure 5 c: after the electronic control module 34 of control system 3 receives signal, send instruction, electronic control module 34 changes into motor movement instructions, promotes motor module 32 to control fluid pressure line module 33, makes four five-way valves 334 of support fluid cylinder, upper slips fluid cylinder two position three-way valve 332, import pressure limiting two position three-way valve 333, import spring-loaded overflow valve 335, maintain the original state constant；Traction control servomotor 321 operating is made to promote traction fluid cylinder three position five-way valve 338, traction fluid cylinder three position five-way valve 338 is made to be in upper, cleaner for high-pressure drilling fluid pressure line 337 connects with the traction fluid cylinder pressure piping 114 on upper center slip pipe 111, lower fluid cylinder input cycle of higher pressure liquid to traction fluid cylinder 147, pressure raises；Simultaneously, draw fluid cylinder pressure piping 112 on upper center slip pipe 111 to connect with drilling fluid return bore hole annulus pipeline 336, drilling fluid return bore hole annulus pipeline 336 fluid cylinder upper with traction connects, the upper fluid cylinder circulation fluid making traction fluid cylinder 147 is back to low pressure bore hole annulus, pressure reduces, traction liquid cylinder piston 113 moves up under the effect drawing upper and lower fluid cylinder pressure reduction, make to draw the relative upper slips 124 of center slip pipe 111 to move up, prop up 424 frictional force firmly grasping the borehole wall at lower slips and the counteracting force of pull strength is provided, traction upper slips support system 1 entirety moves down；But the circulation fluid flow velocity of input and output accurately can be controlled by traction control servomotor 321 so that the speed that the speed that traction liquid cylinder piston 113 moves up moves up with the traction upper center relative upper slips 124 of slip pipe 111 can be effectively controlled；Traction fluid cylinder piston displacement sensor 116 on traction liquid cylinder piston 113 and traction fluid cylinder differential pressure pickup 117 produce live signal simultaneously, and are sent to the electronic control module 34 of control system 3.

As fig. 6 c, when the power break occurs: upper slips fluid cylinder two position three-way valve 332, import pressure limiting two position three-way valve 333, import spring-loaded overflow valve 335, traction fluid cylinder three position five-way valve 338 maintains the original state constant；Support the spool of four five-way valves 334 of fluid cylinder under the action of the spring automatically on move to the 4th, make drilling liquid pressure pipeline 339 connect with drilling fluid return bore hole annulus pipeline 336 with lower slips fluid cylinder pressure piping 412 simultaneously, making upper slips fluid cylinder 144 maintain the original state under upper slips back-moving spring 135 acts on constant, upper slips 124 state that remains retracted is constant；The circulating liquid making lower slips fluid cylinder 444 arrives bore hole annulus back through drilling fluid return bore hole annulus pipeline 336 under the effect of lower slips back-moving spring 435, lower slips 425 is after the expansive force effect losing lower slips support set 425, by well effect and the elastic automatic drawing back of self, make lower slips 425 can automatically return to contraction state after a loss of power；Therefore, after power-off, upper slips 124 and lower slips 425 can keep after a loss of power or automatically return to contraction state, prevents and the generation of lower lock of tool drilling, effectively achieves the automatic protection functions of power-off.

3rd step, as fig 5d: after the electronic control module 34 of control system 3 receives traction fluid cylinder base displacement transducer 116 alive and traction fluid cylinder differential pressure pickup 117 signal, send instruction and pass to electronic control module 34, electronic control module 34 changes into motor movement instructions, motor module 32 is promoted to control fluid pressure line module 33: to make import pressure limiting two position three-way valve 333, import spring-loaded overflow valve 335, maintains the original state constant；Making upper slips fluid cylinder two position three-way valve 332 spool be moved to the left, the second upper slips fluid cylinder pressure piping 119 is closed, and the first upper slips fluid cylinder pressure piping 118 connects with 339；Traction control servomotor 321 operating is made to promote traction fluid cylinder three position five-way valve 338 spool to move to middle position, close traction fluid cylinder pressure piping 112 and the traction fluid cylinder pressure piping 114 of the lower fluid cylinder of traction closing the upper fluid cylinder of traction, make the traction liquid cylinder piston 113 invariant position in traction fluid cylinder 147；Make support and control servomotor 322 operating promote support four five-way valve 334 spools of fluid cylinder to move to second simultaneously, cycle of higher pressure liquid is pressed into upper slips fluid cylinder 144 by cycle of higher pressure drilling fluid entrance cavity pressure line 331, cleaner for high-pressure drilling fluid pressure line 337, drilling liquid pressure pipeline the 339, first upper slips fluid cylinder pressure piping 118, upper slips liquid cylinder piston 141 is promoted to overcome the counteracting force of upper slips back-moving spring 135 to move up, driving and move on upper slips support set 125, the upper slips 124 made opens the promptly borehole wall；After pressure and displacement reach predetermined value, upper slips liquid cylinder piston displacement transducer 142 produces signal and is sent to the electronic control module 34 of control system 3.

As shown in fig 6d, when the power break occurs: upper slips fluid cylinder two position three-way valve 332, import pressure limiting two position three-way valve 333, import spring-loaded overflow valve 335, traction fluid cylinder three position five-way valve 338 maintains the original state constant；nullSupport the spool of four five-way valves 334 of fluid cylinder under the action of the spring automatically on move to the 4th，Make drilling liquid pressure pipeline 339 connect with drilling fluid return bore hole annulus pipeline 336 with lower slips fluid cylinder pressure piping 412 simultaneously，The circulating liquid making upper slips fluid cylinder 144 and lower slips fluid cylinder 444 arrives bore hole annulus back through drilling fluid return bore hole annulus pipeline 336 respectively under the effect of upper slips back-moving spring 135 and lower slips back-moving spring 435，Upper slips 124 and lower slips 425 are after the expansive force effect losing upper slips support set 125 and lower slips support set 425，By well effect and the elastic automatic drawing back of self，Upper slips 124 and lower slips 425 is made to be in contraction state when power is off，Prevent the generation of down-hole lock of tool drilling，Effectively achieve the automatic protection functions of power-off.

4th step, as depicted in fig. 5e；After the electronic control module 34 of control system 3 receives the signal of upper slips liquid cylinder piston displacement transducer 142, send instruction and pass to electronic control module 34, electronic control module 34 changes into motor movement instructions, promote motor module 32 to control fluid pressure line module 33, make upper slips fluid cylinder two position three-way valve 332, import pressure limiting two position three-way valve 333, import spring-loaded overflow valve 335, traction five five-way valves 338 of fluid cylinder maintain the original state constant.Make support and control servomotor 322 operating promote on support four five-way valve 334 spools of fluid cylinder and move to the 3rd, cleaner for high-pressure drilling fluid pressure line 337 is made to connect with drilling liquid pressure pipeline 339, drilling liquid pressure pipeline 339 passes through upper slips fluid cylinder two position three-way valve 332 to the first upper slips fluid cylinder pressure piping 118 conveying high-pressure liquid, making upper slips fluid cylinder 144 keep constant, upper slips 124 continues to open holding and promptly supports borehole wall state；Simultaneously, drilling fluid return bore hole annulus pipeline 336 connects with lower slips fluid cylinder pressure piping 412, lower slips fluid cylinder 444 circulating liquid is made to be back to low pressure bore hole annulus, lower slips back-moving spring 435 promotes lower slips liquid cylinder piston 441 and lower slips support set 425 upwardly, lower slips support set 425 and lower slips 424 triangle inclined-plane slide separately, and lower slips 424 shrinks away from the borehole wall under natural resiliency and borehole wall backup effect.The circulation fluid flow velocity of input and output accurately can be controlled by support and control servomotor 322 so that lower slips 424 shrinks away from the speed of the borehole wall under natural resiliency and borehole wall backup effect and can be effectively controlled.When moving on to precalculated position on lower slips liquid cylinder piston 441, lower slips liquid cylinder piston displacement transducer 442 produces and sends prearranged signals equally to the electronic control module 34 of control system 3.

As shown in fig 6e, when the power break occurs: upper slips fluid cylinder two position three-way valve 332, import pressure limiting two position three-way valve 333, import spring-loaded overflow valve 335, traction fluid cylinder three position five-way valve 338 maintains the original state constant；Support the spool of four five-way valves 334 of fluid cylinder under the action of the spring automatically on move to the 4th, make drilling liquid pressure pipeline 339 connect with drilling fluid return bore hole annulus pipeline 336 with lower slips fluid cylinder pressure piping 412 simultaneously, making lower slips fluid cylinder 444 maintain the original state under lower slips back-moving spring 435 acts on constant, lower slips 424 state that remains retracted is constant；The circulating liquid making upper slips fluid cylinder 144 arrives bore hole annulus back through drilling fluid return bore hole annulus pipeline 336 under the effect of upper slips back-moving spring 135, upper slips 125 is after the expansive force effect losing upper slips support set 125, by well effect and the elastic automatic drawing back of self, make upper slips 125 can automatically return to contraction state after a loss of power；Therefore, after power-off, upper slips 124 and lower slips 425 can keep after a loss of power or automatically return to contraction state, prevents the generation of down-hole lock of tool drilling, effectively achieves the automatic protection functions of power-off.

5th step, as shown in figure 5f: after the electronic control module 34 of control system 3 receives the signal of lower slips liquid cylinder piston displacement transducer 442, send instruction and pass to electronic control module 34, electronic control module 34 changes into motor movement instructions, promote motor module 32 to control fluid pressure line module 33, keep import pressure limiting two position three-way valve 333, support six five-way valves 334 of fluid cylinder, import spring-loaded overflow valve 335 original state state constant.

Making traction servomotor 321 operating promote on traction fluid cylinder three position five-way valve 338 spool and move to bottom: cleaner for high-pressure drilling fluid pressure line 337 connects with traction fluid cylinder pressure piping 112, the upper fluid cylinder input cycle of higher pressure liquid to traction fluid cylinder 147, pressure raises；Simultaneously, traction fluid cylinder pressure piping 114 connects with drilling fluid return bore hole annulus pipeline 336, the lower fluid cylinder circulation fluid making traction fluid cylinder 147 is back to low pressure bore hole annulus, traction liquid cylinder piston 113 moves down under the effect drawing upper and lower fluid cylinder pressure reduction, make to draw the relative upper slips 124 of center slip pipe 111 to move down, by upper slips support system 1 frictional force that promptly borehole wall produces, in traction, center slip pipe 111 and lower center slip pipe assembly 41 entirety together with lower slips support system 4 move down.When the relative upper slips 124 of upper center slip pipe 111 be moved down into make 119 upper end outlet enter into upper slips support set 125 form off state time, upper slips fluid cylinder two position three-way valve 332 spool is made to move right, making drilling liquid pressure pipeline 339 connect with the second upper slips fluid cylinder pressure piping 119, the first upper slips fluid cylinder pressure piping 118 disconnects and is in off state.But the circulation fluid flow velocity of input and output accurately can be controlled by traction control servomotor 321 so that the speed that traction liquid cylinder piston 113 moves down can be effectively controlled with making to draw the speed that the relative upper slips 124 of upper center slip pipe 111 moves down.Traction fluid cylinder piston displacement sensor 116 on traction liquid cylinder piston 113 and traction fluid cylinder differential pressure pickup 117 produce live signal simultaneously, and are sent to the electronic control system 34 of control system 3.

As shown in Figure 6 f, when the power break occurs: upper slips fluid cylinder two position three-way valve 332, import pressure limiting two position three-way valve 333, import spring-loaded overflow valve 335, traction fluid cylinder three position five-way valve 338 maintains the original state constant；Support the spool of four five-way valves 334 of fluid cylinder under the action of the spring automatically on move to the 4th, make drilling liquid pressure pipeline 339 connect with drilling fluid return bore hole annulus pipeline 336 with lower slips fluid cylinder pressure piping 412 simultaneously, making lower slips fluid cylinder 444 maintain the original state under lower slips back-moving spring 435 acts on constant, lower slips 424 state that remains retracted is constant；The circulating liquid making upper slips fluid cylinder 144 arrives bore hole annulus back through drilling fluid return bore hole annulus pipeline 336 under the effect of upper slips back-moving spring 135, upper slips 125 is after the expansive force effect losing upper slips support set 125, by well effect and the elastic automatic drawing back of self, make upper slips 125 can automatically return to contraction state after a loss of power；Therefore, after power-off, upper slips 124 and lower slips 425 can keep after a loss of power or automatically return to contraction state, prevents the generation of down-hole lock of tool drilling, effectively achieves the automatic protection functions of power-off.

6th step, as shown in fig. 5g: the electronic control module 34 of control system 3 receives the traction fluid cylinder piston displacement sensor 116 on traction liquid cylinder piston 113 and after traction fluid cylinder differential pressure pickup 117 produces live signal, send instruction and pass to electronic control module 34, electronic control module 34 changes into motor movement instructions, promote motor module 32 to control fluid pressure line module 33, keep upper slips fluid cylinder two position three-way valve 332, import pressure limiting two position three-way valve 333, import spring-loaded overflow valve 335 original state state constant.Traction control servomotor 321 operating is made to promote traction fluid cylinder three position five-way valve 338 spool to move to middle position: drilling fluid input pressure pipeline 337, traction fluid cylinder pressure piping 112, traction fluid cylinder pressure piping 114, drilling fluid return bore hole annulus pipeline 336 is each turned off so that traction liquid cylinder piston 113 keeps resting state with the traction upper center relative upper slips 124 of slip pipe 111.Make support and control servomotor 322 operating promote the spool supporting four five-way valves 334 of fluid cylinder to move to second: to make cleaner for high-pressure drilling fluid pressure line 337 connect with drilling liquid pressure pipeline 339 simultaneously, cleaner for high-pressure drilling fluid passes sequentially through drilling fluid entrance cavity pressure line 331, cleaner for high-pressure drilling fluid pressure line 337, drilling liquid pressure pipeline the 339, second upper slips fluid cylinder pressure piping 119, to upper slips fluid cylinder 144 conveying high-pressure circulating liquid, upper slips 124 is made to keep supporting borehole wall state constant；Cleaner for high-pressure drilling fluid pressure line 337 connects with lower slips fluid cylinder pressure piping 412 simultaneously, cleaner for high-pressure drilling fluid passes sequentially through drilling fluid entrance cavity pressure line 331, cleaner for high-pressure drilling fluid pressure line 337, lower slips fluid cylinder pressure piping 412, card fluid cylinder 444 conveying high-pressure circulating liquid downwards, lower card fluid cylinder 444 pressure is made to raise, lower slips liquid cylinder piston 441 is promoted to overcome lower slips back-moving spring 435 counteracting force, lower slips support set 425 is driven to move down, realize extrapolation lower slips 424 and open promptly support borehole wall function, but the circulation fluid flow velocity of input and output accurately can be controlled by support and control servomotor 322, speed lower slips 424 being opened promptly support the borehole wall can be effectively controlled.After lower slips liquid cylinder piston 441 pushing force and displacement reach to subscribe, whole traction apparatus returns to again state as shown in Figure 5 a, and lower slips liquid cylinder piston displacement transducer 442 produces signal and is sent to the electronic control module 34 of control system 3.

As shown in figure 6g, when the power break occurs: upper slips fluid cylinder two position three-way valve 332, import pressure limiting two position three-way valve 333, import spring-loaded overflow valve 335, traction fluid cylinder three position five-way valve 338 maintains the original state constant；nullSupport the spool of four five-way valves 334 of fluid cylinder under the action of the spring automatically on move to the 4th，Make drilling liquid pressure pipeline 339 connect with drilling fluid return bore hole annulus pipeline 336 with lower slips fluid cylinder pressure piping 412 simultaneously，The circulating liquid making upper slips fluid cylinder 144 and lower slips fluid cylinder 444 arrives bore hole annulus back through drilling fluid return bore hole annulus pipeline 336 respectively under the effect of upper slips back-moving spring 135 and lower slips back-moving spring 435，Upper slips 124 and lower slips 425 are after the expansive force effect losing upper slips support set 125 and lower slips support set 425，By well effect and the elastic automatic drawing back of self，Upper slips 124 and lower slips 425 is made to be in contraction state when power is off，Prevent the generation of down-hole lock of tool drilling，Effectively achieve the automatic protection functions of power-off.

If constantly repeating above-mentioned action by the order of " → bis-→ tri-→ tetra-→ five → six → ", traction apparatus is made to draw downwards function of creeping in down-hole；On the contrary, if by the order operation of " six → five → tetra-→ tri-→ bis-→ → six ", then traction apparatus can be realized and draws, at down hole reverse, function of creeping.

Claims

1. a control system for Electro-hydraulic drive coiled tubing downhole tractor, including traction apparatus, control System processed, it is characterised in that:

Described traction apparatus includes that upper slips supports and supports system with trailer system, center slip pipe assembly, lower slips Uniting, upper slips support and trailer system slide over the top of center slip pipe assembly, can be along center slip pipe assembly Slide up and down；Control system, lower slips support system are fixed on the bottom of center slip pipe assembly, upper slips Support and trailer system, lower slips support system are respectively used to the promptly borehole wall and support traction apparatus and produce axle The pull strength being traction apparatus to frictional force provides counteracting force, and control system is used for receiving ground signal, control Downhole tractor working processed,

Described center slip pipe assembly includes center slip pipe, circulation fluid filtration device, lower center slip pipe,

Described upper center slip pipe is a Circular Pipe, and upper center slip pipe is machined with the first upper slips respectively along tube wall Fluid cylinder pressure piping, the second upper slips fluid cylinder pressure piping, upper traction fluid cylinder pressure piping, lower traction fluid Cylinder pressure piping；The traction liquid cylinder piston being relatively large in diameter, upper traction fluid cylinder pressure it is machined with on the slip pipe of upper center The upper outlet of solenoid road and lower traction fluid cylinder pressure piping lays respectively at the both sides up and down of traction liquid cylinder piston, Two traction fluid cylinder piston seals, a traction fluid cylinder piston displacement sensing are installed on traction liquid cylinder piston Device, a traction fluid cylinder differential pressure pickup；Slip pipe lower end, upper center be machined be tightly connected external screw thread, under End end face is provided with circular orientation flange；

Described lower center slip pipe is the stairstepping Circular Pipe that a upper end external diameter little lower end external diameter is big, and lower center is sliding The upper end end face of pipe is provided with circular orientation flange, is machined with external screw thread near the upper end of lower center slip pipe, It is machined with lower slips fluid cylinder pressure piping in the slip pipe tube wall of lower center；

Described circulation fluid filtration device is the cylinder with oblique sieve aperture, is used for filtering out in drilling circulation liquid straight The granule that footpath is bigger, prevents clogging hydraulic pipeline, and the two ends up and down of circulation fluid filtration device have circular orientation recessed Groove, circulation fluid filtration device upper end is sealed and upper center by circular orientation groove and two circulation fluid filtration devices Slip pipe is tightly connected, and circulation fluid filtration device lower end is close by circular orientation groove and two circulation fluid filtration devices Feng Yuxia center slip pipe is tightly connected；

Described upper slips support with trailer system include upper slips bearing, upper slips, upper slips support set, Upper slips fluid cylinder lid, upper slips return spring holder, upper slips back-moving spring, upper fluid cylinder housing, traction fluid Cylinder cap,

Described upper slips bearing is heavy wall short cylinder, and upper slips bearing slides over upper center by cylinder endoporus On slip pipe, upper slips bearing scraper is installed between upper slips bearing and upper center slip pipe；Upper slips props up Uniform three set slips Fixed latches groove and the pin holes of seat lower end cylindrical circumference；

Described upper fluid cylinder housing slides on the slip pipe of upper center by the through hole at middle part, upper fluid cylinder housing central section Internal diameter is minimum, and lower inner diameter is maximum, and upper inner diameter is between middle part internal diameter, lower inner diameter；Upper fluid cylinder Form superposed upper slips fluid cylinder between housing and upper center slip pipe and be positioned at the traction fluid cylinder of bottom； The external diameter of upper slips fluid cylinder housing is less than the external diameter of traction fluid cylinder housing；Upper fluid cylinder housing and upper center slip pipe Between sealed by two upper slips fluid cylinder housing seals；Upper fluid cylinder housing central section is along cylindrical circumference all Cloth three overlaps slips Fixed latches groove and pin hole, and the upper end of upper slips fluid cylinder housing is machined with female thread；Lead The lower end drawing fluid cylinder housing is machined with female thread；

Described upper slips is the elastic steel sheet that the narrow strip in middle wide two is axially symmetric, and centre is radially Having triangle inclined-plane, there is parallel pin hole at two ends, and the upper end of three upper slipses is by three set upper slips steady pins In the three set slips Fixed latches grooves being fixed on upper slips bearing and pin hole, the lower end of three upper slipses It is fixed on upper fluid cylinder housing by three set upper slips steady pins；

Described upper slips fluid cylinder lid is the heavy wall short cylinder that there is through hole centre, and lower end is provided with the outer spiral shell of closed type Stricture of vagina, upper slips fluid cylinder lid slides on the cylinder of upper slips support set core by intermediate throughholes, upper slips Two upper slips lids are installed between the core cylinder of fluid cylinder lid and upper slips support set seal, upper fluid cylinder shell Threaded with upper slips fluid cylinder lid in body upper end；

Described upper slips support set core is cylinder, upper slips support set by core cylinder slide over upper in On heart slip pipe, upper slips support set lower end is machined with upper slips liquid cylinder piston, and upper slips liquid cylinder piston is placed in In upper slips fluid cylinder；Have along the uniform welding in excircle direction three on the cylinder top of upper slips support set The pane on triangle inclined-plane, triangle inclined-plane radially, and with the triangle inclined-plane phase on three upper slipses Coordinate, upper slips liquid cylinder piston is provided with a upper slips liquid cylinder piston displacement transducer and four upper cards Watt liquid cylinder piston seals, and upper slips liquid cylinder piston can promote upper slips support set to exist under fluid cylinder thrust Slide vertically on the slip pipe of upper center: when upward sliding, upper slips support set is pushed away by triangle inclined-plane Open three upper slipses and promptly support the borehole wall；

Described upper slips return spring holder is the cup-shaped cylinder of thin-walled that there is through hole centre, is upwardly against at the bottom of cup On upper slips fluid cylinder lid, upper slips back-moving spring is helical spring, and upper slips back-moving spring is seated against card In the endoporus of watt return spring holder, upper slips back-moving spring upper end withstands on the upper end of upper slips return spring holder Bottom surface, upper slips back-moving spring lower end withstands on the end face of upper slips liquid cylinder piston, upper slips back-moving spring and Upper slips return spring holder slides on the cylinder of upper slips support set core together, upper slips back-moving spring For when upper slips fluid cylinder pressure is removed, provide downward thrust to upper slips liquid cylinder piston, make card Watt support set slide downward, the triangle inclined-plane on upper slips support set and the triangle inclined-plane on upper slips unclamp, Guarantee that upper slips can automatically retract in the case of extrapolability eliminates；Upper slips return spring holder lower end is upper card The upper side of watt liquid cylinder piston moving limit position upwards, when the triangular aslant on upper slips support set towards On be moved on upper slips triangle inclined-plane peak time, the lower end of upper slips return spring holder withstands on The upper side of slips liquid cylinder piston, makes upper slips liquid cylinder piston and upper slips support set not to continue up Slide, stop upper slips and upper slips support set locked；

Traction liquid cylinder piston on the slip pipe of described upper center is positioned at traction fluid cylinder, and is divided into by traction fluid cylinder Upper traction fluid cylinder and lower traction fluid cylinder, traction fluid cylinder cap is that centre has through hole heavy wall short cylinder, traction fluid Cylinder cap slides over the bottom of upper center slip pipe by intermediate throughholes, and upper end is provided with closed type external screw thread, traction Fluid cylinder housing lower end and traction fluid cylinder cap upper end are threaded connection；Traction fluid cylinder cap and upper center slip pipe it Between sealed by two traction fluid cylinder caps；

Described lower slips support system includes: lower slips bearing, lower slips, lower slips support set, lower card Watt fluid cylinder lid, lower slips return spring holder, lower slips back-moving spring, lower slips fluid cylinder housing,

Described lower slips bearing is the short cylinder that there is through hole centre, and lower slips bearing is slided over by through hole On the slip pipe of lower center, lower slips bearing scraper is installed between lower slips bearing and lower center slip pipe；Under Be uniformly distributed along the circumference outside fixing spider upper end three set slips Fixed latches groove and pin holes；

Described lower slips fluid cylinder housing is the cylindrical shell that there is manhole upper coarse and lower fine centre, lower slips liquid Cylinder housing slides on the slip pipe of lower center by manhole, lower slips fluid cylinder housing and lower center slip pipe it Between be provided with two upper slips fluid cylinder housing seals, by two in the middle of lower slips fluid cylinder housing and lower center slip pipe Individual upper slips fluid cylinder housing seal seals；Lower slips fluid cylinder housing upper end inner headed face has female thread, under The external screw thread threaded engagement that slips fluid cylinder housing is provided with by female thread and lower center slip pipe, lower slips liquid There is annular seal groove cylinder housing upper surface, and lower slips fluid cylinder housing upper end end face is by sealing ring and control system System housing lower end surface is tightly connected, and lower slips fluid cylinder housing intermediary outside is uniformly distributed along the circumference three set slips admittedly Determine latch groove and pin hole；

Described lower slips is the elastic steel sheet that the narrow strip in middle wide two is axially symmetric, and centre is radially Having triangular pyramidal inclined-plane, two ends have parallel pin hole, three lower slips lower ends to be fixed by three groups of lower slipses Pin circumference is fixed on lower slips bearing in uniform way；The upper end of three lower slipses is respectively by three set lower slipses Steady pin is fixed in slips Fixed latches groove and the pin hole of lower slips fluid cylinder housing, three lower slips energy Open under lower slips support set effect, natural resiliency and borehole wall extruding force can be relied on to close after external force is removed Close；

Described lower slips support set core is cylinder, has the most uniform welding in cylinder bottom three The pane on triangular pyramidal inclined-plane, triangular pyramidal inclined-plane radially, and every with on three lower slipses Individual triangular pyramidal inclined-plane matches, and can do slip relatively, to open three lower slipses under thrust； Lower slips support set upper end is machined with lower slips liquid cylinder piston, and lower slips liquid cylinder piston is placed in lower slips fluid cylinder In；One lower slips liquid cylinder piston displacement transducer and four lower slipses are installed on lower slips liquid cylinder piston Liquid cylinder piston seals, and lower slips support set slides on the slip pipe of lower center by the cylinder of core, lower slips It is the most sliding that liquid cylinder piston can promote lower slips support set to do on the slip pipe of lower center under fluid cylinder thrust Dynamic, when slide downward, lower slips support set opens three lower slipses by triangular pyramidal inclined-plane and promptly props up The support borehole wall；

Described lower slips fluid cylinder lid is the short cylinder that there is through hole centre, and lower slips fluid cylinder lid is logical by centre Hole slides on the cylinder of lower slips support set core, lower slips fluid cylinder lid and the core of lower slips support set Two lower slips lids are installed between cylinder seal；On lower slips fluid cylinder lid, end has closed type external screw thread；Under Lower slips fluid cylinder housing is played a supportive role by slips fluid cylinder lid；

Described lower slips return spring holder is the cup-shaped cylinder that there is through hole centre, down against at lower card at the bottom of cup On watt fluid cylinder lid, lower slips back-moving spring is seated against in lower slips return spring holder and slides over lower slips together On the cylinder of support set core, lower slips back-moving spring lower end is seated against on lower slips return spring holder, under Slips back-moving spring upper end is resisted against the bottom surface of lower slips liquid cylinder piston, lower slips return spring holder upper end Extreme position is moved down, it is ensured that the triangular pyramidal on lower slips support set is oblique for lower slips liquid cylinder piston Triangular pyramidal inclined-plane on face and lower slips can reach maximum and open fixed point, will not slip over again locked；Lower card Watt back-moving spring, when lower slips fluid cylinder housing pressure disappears, relies on spring force to promote lower slips support set Upwards regaining, when upward sliding, lower slips support set is regained, and when extrapolability is removed, blocks under three Watt natural resiliency and borehole wall backup effect can be relied on to be retracted away from the borehole wall；

Described control system includes control system housing, is sequentially installed with from top to bottom in control system housing Motor module, fluid pressure line module, electronic control module；Motor module include traction control servomotor, Support and control servomotor；Traction control servomotor and support and control servomotor are by electronic control module Transmission instruction is controlled；

Described lower slips fluid cylinder pressure piping upper end is connected with electronic control module, lower end and lower traction fluid cylinder It is connected；Lower slips fluid cylinder pressure piping is for the input of lower slips fluid cylinder and output liquid, the first upper slips The lower end outlet of fluid cylinder pressure piping, the lower end outlet of the second upper slips fluid cylinder pressure piping, upper traction fluid The lower end outlet of cylinder pressure piping, the lower end of lower traction fluid cylinder pressure piping export Dou Shang center slip pipe Lower end periphery, and be connected with fluid pressure line module respectively；Fluid pressure line module is according to upper slips fluid cylinder Position, control respectively first upper slips fluid cylinder pressure piping disconnect or connection, the second upper slips fluid cylinder pressure The connection on solenoid road or disconnection, it is achieved input or the output circulating liquid to upper slips fluid cylinder；Fluid pressure line Module controls upper traction fluid cylinder pressure piping and inputs to upper traction fluid cylinder or output circulating liquid, with leading at present Draw fluid cylinder pressure piping and to the output of lower traction fluid cylinder or input circulating liquid, promote traction liquid cylinder piston downward Or move up.

The control system of Electro-hydraulic drive coiled tubing downhole tractor the most according to claim 1, It is characterized in that:

Fluid pressure line module includes upper slips fluid cylinder two position three-way valve, import pressure limiting two position three-way valve, support Four five-way valves of fluid cylinder, import spring-loaded overflow valve, traction fluid cylinder three position five-way valve.

The control system of Electro-hydraulic drive coiled tubing downhole tractor the most according to claim 2, It is characterized in that:

The three-way interface pipeline of upper slips fluid cylinder two position three-way valve is respectively as follows: entrance termination drilling liquid pressure pipe Line, two ports of export connect the first upper slips fluid cylinder pressure piping and the second upper slips fluid cylinder pressure piping respectively； Wherein two are controlled by spring and electromagnetic valve.

The control system of Electro-hydraulic drive coiled tubing downhole tractor the most according to claim 3, It is characterized in that:

Import pressure limiting two position three-way valve is two-position three way spring electromagnetism pilot operated valve device, and three-way interface pipeline is respectively as follows: Entrance termination drilling fluid entrance cavity pressure line, two ports of export connect cleaner for high-pressure drilling fluid pressure line and brill respectively Well liquid backflow bore hole annulus pipeline；Import pressure limiting two position three-way valve one end equipped with electric magnet, the other end equipped with Spring；Electric magnet end high pressure hydraulic control entrance connects drilling fluid entrance cavity pressure line, and spring terminal low pressure hydraulic control enters Mouth connects drilling fluid return bore hole annulus pipeline；

Wherein two are leaned on spring, electric magnet magnetic force, drilling fluid entrance cavity pressure line and drilling fluid return well The pressure reduction of eye thimble blank pipe line is controlled.

The control system of Electro-hydraulic drive coiled tubing downhole tractor the most according to claim 4, It is characterized in that: import spring-loaded overflow valve is bi-bit bi-pass spring electromagnetic relief valve, import spring-loaded overflow valve One end connects high pressure drilling hydraulic pressure equipped with electric magnet, the other end equipped with spring, the entrance of import spring-loaded overflow valve Solenoid line, the outlet termination drilling fluid return bore hole annulus pipeline of import spring-loaded overflow valve, spring terminal low pressure Hydraulic control entrance connects drilling fluid return bore hole annulus pipeline, and electric magnet end high pressure hydraulic control entrance connects cleaner for high-pressure drilling fluid Pressure line；Two of import spring-loaded overflow valve are by cleaner for high-pressure drilling fluid pressure line and drilling fluid return well Pressure reduction and the spring thrust of eye thimble blank pipe line are controlled, and make cleaner for high-pressure drilling fluid pressure line and drilling fluid Backflow bore hole annulus pipeline connection or disconnection.

The control system of Electro-hydraulic drive coiled tubing downhole tractor the most according to claim 5, It is characterized in that:

Supporting four five-way valve one entrances of fluid cylinder and connect cleaner for high-pressure drilling fluid pressure line, two bypass outlets all connect brill Well liquid backflow bore hole annulus pipeline, two outlets connect drilling liquid pressure pipeline and lower slips fluid cylinder manometer tube respectively Road；Support the upper termination support and control servomotor of the spool of four five-way valves of fluid cylinder, the lower termination of spool Spring；Support four five-way valves of fluid cylinder and divide four: first from top to bottom, drilling liquid pressure pipeline and brill The backflow bore hole annulus pipeline connection of well liquid, cleaner for high-pressure drilling fluid pressure line is with lower slips fluid cylinder pressure piping even Logical；Second, with drilling liquid pressure pipeline and lower slips fluid cylinder while of cleaner for high-pressure drilling fluid pressure line difference Pressure piping connects, drilling fluid return bore hole annulus pipeline and drilling liquid pressure pipeline and lower slips fluid cylinder pressure Solenoid road disconnects；3rd, cleaner for high-pressure drilling fluid pressure line connects with connecing drilling liquid pressure pipeline, lower card Watt fluid cylinder pressure piping connects with drilling fluid return bore hole annulus pipeline；4th, drilling fluid return well Annular space pipeline respectively simultaneously with connect drilling liquid pressure pipeline and lower slips fluid cylinder pressure piping connect, high pressure brill Well hydraulic coupling pipeline disconnects with drilling liquid pressure pipeline and lower slips fluid cylinder pressure piping simultaneously；Support fluid cylinder First of four five-way valves, second, the mode of communicating of the 3rd all use adjustable mode of communicating: Spool position changes, and passage flow section size variation flows through channel liquid flow velocity and varies in size, passes through The position of support and control servomotor precision control valve core, thus accurately control upper three connection interfaces and cross stream Section size so that input and output stream rate of flow of fluid be effectively controlled.

The control system of Electro-hydraulic drive coiled tubing downhole tractor the most according to claim 6, It is characterized in that:

Traction fluid cylinder three position five-way valve one entrance connects cleaner for high-pressure drilling fluid pressure line, and two bypass outlets all connect brill Well liquid backflow bore hole annulus pipeline, other two outlets connect traction fluid cylinder pressure piping and traction fluid cylinder pressure respectively Solenoid road；The upper termination traction control servomotor of traction fluid cylinder three position five-way valve spool, draws fluid cylinder three The lower termination spring of position five-way valve spool；Traction fluid cylinder three position five-way valve has three from top to bottom: upper, Cleaner for high-pressure drilling fluid pressure line connects with traction fluid cylinder pressure piping, traction fluid cylinder pressure piping and drilling fluid Backflow bore hole annulus pipeline connection；Middle position, cleaner for high-pressure drilling fluid pressure line, drilling fluid return bore hole annulus Pipeline, draws fluid cylinder pressure piping, and traction fluid cylinder pressure piping is each turned off into off state；The next: Cleaner for high-pressure drilling fluid pressure line connects with traction fluid cylinder pressure piping, traction fluid cylinder pressure piping and drilling fluid Backflow bore hole annulus pipeline connection；The traction upper and the next mode of communicating of fluid cylinder three position five-way valve uses adjustable Throttling mode of communicating: the position of precision control valve core can control upper three connection interface sizes so that defeated Enter and be effectively controlled with output stream rate of flow of fluid；The upper termination traction control of traction fluid cylinder three position five-way valve spool Servomotor processed, traction control servomotor can accurately control to draw the position of fluid cylinder three position five-way valve spool.

The control system of Electro-hydraulic drive coiled tubing downhole tractor the most according to claim 7, It is characterized in that:

Traction control servomotor is accurately controlled the displacement of traction fluid cylinder three position five-way valve spool, traction fluid Upper and the next valve core channel overflow section size of cylinder three position five-way valve is adjusted with spool displacement, control Traction control servomotor processed is accurately controlled the upper and the next valve core channel of traction fluid cylinder three position five-way valve Overflow section size, controls uninterrupted, controls hauling speed size；Support and control servomotor can essence Really controlling to support the displacement of four five-way valve spools of fluid cylinder, the four-position valve core supporting four five-way valves of fluid cylinder leads to Road overflow section size is adjusted with spool displacement, and control traction control servomotor is accurately controlled and leads Draw the upper and the next valve core channel overflow section size of fluid cylinder three position five-way valve, control uninterrupted, control The size of the speed that upper slips processed and lower slips open and shrink.

The control system of Electro-hydraulic drive coiled tubing downhole tractor the most according to claim 8, It is characterized in that: support and under four five-way valves of fluid cylinder, terminate back-moving spring, power-off rear support fluid cylinder four five Logical valve core moves to the 4th pressure release loop state: drilling fluid return bore hole annulus pipeline is simultaneously and drilling well Hydraulic coupling pipeline connects with lower slips fluid cylinder pressure piping, makes upper slips fluid cylinder by circulation fluid pipeline simultaneously It is back to low pressure bore hole annulus, upper slips and lower slips with the circulating liquid in lower card fluid cylinder and leaves well simultaneously Wall, prevents power-off from causing bit freezing.

The control system of Electro-hydraulic drive coiled tubing downhole tractor the most according to claim 9 System, it is characterised in that:

Upper center slip pipe is machined with the first upper slips fluid cylinder pressure piping, the second upper slips liquid respectively along tube wall Cylinder pressure piping, upper traction fluid cylinder pressure piping, lower traction fluid cylinder pressure piping；First upper slips fluid cylinder The lower end outlet of pressure piping, the lower end outlet of the second upper slips fluid cylinder pressure piping, upper traction fluid cylinder pressure The lower end outlet on solenoid road, the lower end of lower traction fluid cylinder pressure piping export the lower end of Dou Shang center slip pipe Periphery, and be connected with fluid pressure line module respectively；Bring out on first upper slips fluid cylinder pressure piping Mouth is upper slips fluid cylinder covering on the slip pipe of upper center during center slip pipe the top on upper supporting system is in In the range of, upper end outlet center slip pipe on upper supporting system is in of the second upper slips fluid cylinder pressure piping During bottom in upper slips fluid cylinder coverage on the slip pipe of upper center；Upper and lower two traction fluid cylinder manometer tube The upper end outlet on road is respectively in the two sides up and down of traction liquid cylinder piston；

Fluid pressure line module controls the first upper slips fluid cylinder pressure piping and disconnects or connection, the second upper slips liquid The connection of cylinder pressure piping or disconnection, input or the output circulating liquid to upper slips fluid cylinder；Fluid pressure line Module controls upper traction fluid cylinder pressure piping to the input of upper traction fluid cylinder or output circulating liquid, fluid pressure line Module controls lower traction fluid cylinder pressure piping and exports to lower traction fluid cylinder or input circulating liquid, promotes traction Liquid cylinder piston moves downward or upward.